Attribution Non-Commercial (BY-NC)

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Attribution Non-Commercial (BY-NC)

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Contents

Anti-Copyright Preface 0.1 Advice to Teachers . . . . 0.2 Acknowledgments . . . . 0.3 Warnings and Disclaimers 0.4 Suggested Use . . . . . . 0.5 About the Title . . . . . xxiv xxv xxv xxv xxvi xxvii xxvii

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Algebra

and Functions Sets . . . . . . . . . . . . . . . . . Single Valued Functions . . . . . . . Inverses and Multi-Valued Functions . Transforming Equations . . . . . . . Exercises . . . . . . . . . . . . . . . Hints . . . . . . . . . . . . . . . . . Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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2 2 4 6 9 12 15 17

2 Vectors 2.1 Vectors . . . . . . . . . . . . . . . . . . 2.1.1 Scalars and Vectors . . . . . . . 2.1.2 The Kronecker Delta and Einstein 2.1.3 The Dot and Cross Product . . . 2.2 Sets of Vectors in n Dimensions . . . . . 2.3 Exercises . . . . . . . . . . . . . . . . . 2.4 Hints . . . . . . . . . . . . . . . . . . . 2.5 Solutions . . . . . . . . . . . . . . . . .

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23 23 23 26 27 34 37 39 41

II

Calculus

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49 49 54 57 62 64 67 69 74 76 82 82 82 83 85 85 85

3 Dierential Calculus 3.1 Limits of Functions . . . . . . . . . . . . . . . 3.2 Continuous Functions . . . . . . . . . . . . . 3.3 The Derivative . . . . . . . . . . . . . . . . . 3.4 Implicit Dierentiation . . . . . . . . . . . . . 3.5 Maxima and Minima . . . . . . . . . . . . . . 3.6 Mean Value Theorems . . . . . . . . . . . . . 3.6.1 Application: Using Taylors Theorem to 3.6.2 Application: Finite Dierence Schemes 3.7 LHospitals Rule . . . . . . . . . . . . . . . . 3.8 Exercises . . . . . . . . . . . . . . . . . . . . 3.8.1 Limits of Functions . . . . . . . . . . 3.8.2 Continuous Functions . . . . . . . . . 3.8.3 The Derivative . . . . . . . . . . . . . 3.8.4 Implicit Dierentiation . . . . . . . . . 3.8.5 Maxima and Minima . . . . . . . . . . 3.8.6 Mean Value Theorems . . . . . . . . .

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3.8.7 LHospitals Rule 3.9 Hints . . . . . . . . . . 3.10 Solutions . . . . . . . . 3.11 Quiz . . . . . . . . . . 3.12 Quiz Solutions . . . . .

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. 86 . 88 . 93 . 113 . 114 116 116 122 122 123 125 127 127 130 134 134 134 136 136 137 138 141 150 151 154 154 155 163

4 Integral Calculus 4.1 The Indenite Integral . . . . . . . . . . . . . . 4.2 The Denite Integral . . . . . . . . . . . . . . . 4.2.1 Denition . . . . . . . . . . . . . . . . 4.2.2 Properties . . . . . . . . . . . . . . . . 4.3 The Fundamental Theorem of Integral Calculus . 4.4 Techniques of Integration . . . . . . . . . . . . 4.4.1 Partial Fractions . . . . . . . . . . . . . 4.5 Improper Integrals . . . . . . . . . . . . . . . . 4.6 Exercises . . . . . . . . . . . . . . . . . . . . . 4.6.1 The Indenite Integral . . . . . . . . . . 4.6.2 The Denite Integral . . . . . . . . . . . 4.6.3 The Fundamental Theorem of Integration 4.6.4 Techniques of Integration . . . . . . . . 4.6.5 Improper Integrals . . . . . . . . . . . . 4.7 Hints . . . . . . . . . . . . . . . . . . . . . . . 4.8 Solutions . . . . . . . . . . . . . . . . . . . . . 4.9 Quiz . . . . . . . . . . . . . . . . . . . . . . . 4.10 Quiz Solutions . . . . . . . . . . . . . . . . . .

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5 Vector Calculus 5.1 Vector Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Gradient, Divergence and Curl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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III

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180 180 184 188 193 195 197 201 208 211 239 239 242 246 248 251 257 267 269 285 296

6 Complex Numbers 6.1 Complex Numbers . . . 6.2 The Complex Plane . . 6.3 Polar Form . . . . . . . 6.4 Arithmetic and Vectors 6.5 Integer Exponents . . . 6.6 Rational Exponents . . 6.7 Exercises . . . . . . . . 6.8 Hints . . . . . . . . . . 6.9 Solutions . . . . . . . .

7 Functions of a Complex Variable 7.1 Curves and Regions . . . . . . . . . . . . 7.2 The Point at Innity and the Stereographic 7.3 Cartesian and Modulus-Argument Form . . 7.4 Graphing Functions of a Complex Variable 7.5 Trigonometric Functions . . . . . . . . . . 7.6 Inverse Trigonometric Functions . . . . . . 7.7 Riemann Surfaces . . . . . . . . . . . . . 7.8 Branch Points . . . . . . . . . . . . . . . 7.9 Exercises . . . . . . . . . . . . . . . . . . 7.10 Hints . . . . . . . . . . . . . . . . . . . .

. . . . . . Projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7.11 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 8 Analytic Functions 8.1 Complex Derivatives . . . . . . . . . . . . . . 8.2 Cauchy-Riemann Equations . . . . . . . . . . 8.3 Harmonic Functions . . . . . . . . . . . . . . 8.4 Singularities . . . . . . . . . . . . . . . . . . 8.4.1 Categorization of Singularities . . . . . 8.4.2 Isolated and Non-Isolated Singularities 8.5 Application: Potential Flow . . . . . . . . . . 8.6 Exercises . . . . . . . . . . . . . . . . . . . . 8.7 Hints . . . . . . . . . . . . . . . . . . . . . . 8.8 Solutions . . . . . . . . . . . . . . . . . . . . 359 359 366 371 376 376 380 382 387 395 398 436 436 439 441 446 449 453 455 456 461 461 463 466 467 469

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9 Analytic Continuation 9.1 Analytic Continuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2 Analytic Continuation of Sums . . . . . . . . . . . . . . . . . . . . . . . . 9.3 Analytic Functions Dened in Terms of Real Variables . . . . . . . . . . . . 9.3.1 Polar Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.3.2 Analytic Functions Dened in Terms of Their Real or Imaginary Parts 9.4 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.5 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Contour Integration and the Cauchy-Goursat Theorem 10.1 Line Integrals . . . . . . . . . . . . . . . . . . . . . . . 10.2 Contour Integrals . . . . . . . . . . . . . . . . . . . . . 10.2.1 Maximum Modulus Integral Bound . . . . . . . 10.3 The Cauchy-Goursat Theorem . . . . . . . . . . . . . . 10.4 Contour Deformation . . . . . . . . . . . . . . . . . .

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10.5 Moreras Theorem. . . . . . . . . . . 10.6 Indenite Integrals . . . . . . . . . . 10.7 Fundamental Theorem of Calculus via 10.7.1 Line Integrals and Primitives . 10.7.2 Contour Integrals . . . . . . 10.8 Fundamental Theorem of Calculus via 10.9 Exercises . . . . . . . . . . . . . . . 10.10Hints . . . . . . . . . . . . . . . . . 10.11Solutions . . . . . . . . . . . . . . . 11 Cauchys Integral Formula 11.1 Cauchys Integral Formula 11.2 The Argument Theorem . 11.3 Rouches Theorem . . . . 11.4 Exercises . . . . . . . . . 11.5 Hints . . . . . . . . . . . 11.6 Solutions . . . . . . . . .

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470 472 473 473 473 474 477 481 482 492 493 500 501 504 508 510 524 524 524 526 528 535 536 538 539 546 549 552

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12 Series and Convergence 12.1 Series of Constants . . . . . . . . . . . . . . . . . . . . 12.1.1 Denitions . . . . . . . . . . . . . . . . . . . . 12.1.2 Special Series . . . . . . . . . . . . . . . . . . 12.1.3 Convergence Tests . . . . . . . . . . . . . . . . 12.2 Uniform Convergence . . . . . . . . . . . . . . . . . . 12.2.1 Tests for Uniform Convergence . . . . . . . . . 12.2.2 Uniform Convergence and Continuous Functions. 12.3 Uniformly Convergent Power Series . . . . . . . . . . . 12.4 Integration and Dierentiation of Power Series . . . . . 12.5 Taylor Series . . . . . . . . . . . . . . . . . . . . . . . 12.5.1 Newtons Binomial Formula. . . . . . . . . . . .

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vi

12.6 Laurent Series . . . . . . . . . . . . . . . . . . . . . 12.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . 12.7.1 Series of Constants . . . . . . . . . . . . . . 12.7.2 Uniform Convergence . . . . . . . . . . . . . 12.7.3 Uniformly Convergent Power Series . . . . . . 12.7.4 Integration and Dierentiation of Power Series 12.7.5 Taylor Series . . . . . . . . . . . . . . . . . . 12.7.6 Laurent Series . . . . . . . . . . . . . . . . . 12.8 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . 12.9 Solutions . . . . . . . . . . . . . . . . . . . . . . . . 13 The Residue Theorem 13.1 The Residue Theorem . . . . . . . . . . . . 13.2 Cauchy Principal Value for Real Integrals . . 13.2.1 The Cauchy Principal Value . . . . . 13.3 Cauchy Principal Value for Contour Integrals 13.4 Integrals on the Real Axis . . . . . . . . . . 13.5 Fourier Integrals . . . . . . . . . . . . . . . 13.6 Fourier Cosine and Sine Integrals . . . . . . 13.7 Contour Integration and Branch Cuts . . . . 13.8 Exploiting Symmetry . . . . . . . . . . . . . 13.8.1 Wedge Contours . . . . . . . . . . . 13.8.2 Box Contours . . . . . . . . . . . . 13.9 Denite Integrals Involving Sine and Cosine . 13.10Innite Sums . . . . . . . . . . . . . . . . . 13.11Exercises . . . . . . . . . . . . . . . . . . . 13.12Hints . . . . . . . . . . . . . . . . . . . . . 13.13Solutions . . . . . . . . . . . . . . . . . . .

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554 559 559 565 565 567 568 570 573 581 625 625 633 633 638 642 646 648 651 654 654 657 658 661 666 680 686

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vii

IV

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772

773 773 775 775 777 780 780 782 786 791 791 792 795 796 797 801 803 803 807 812 814 817 820 823 844 845

14 First Order Dierential Equations 14.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.2 Example Problems . . . . . . . . . . . . . . . . . . . . . . . . 14.2.1 Growth and Decay . . . . . . . . . . . . . . . . . . . . 14.3 One Parameter Families of Functions . . . . . . . . . . . . . . 14.4 Integrable Forms . . . . . . . . . . . . . . . . . . . . . . . . . 14.4.1 Separable Equations . . . . . . . . . . . . . . . . . . . 14.4.2 Exact Equations . . . . . . . . . . . . . . . . . . . . . 14.4.3 Homogeneous Coecient Equations . . . . . . . . . . . 14.5 The First Order, Linear Dierential Equation . . . . . . . . . . 14.5.1 Homogeneous Equations . . . . . . . . . . . . . . . . . 14.5.2 Inhomogeneous Equations . . . . . . . . . . . . . . . . 14.5.3 Variation of Parameters. . . . . . . . . . . . . . . . . . 14.6 Initial Conditions . . . . . . . . . . . . . . . . . . . . . . . . . 14.6.1 Piecewise Continuous Coecients and Inhomogeneities . 14.7 Well-Posed Problems . . . . . . . . . . . . . . . . . . . . . . . 14.8 Equations in the Complex Plane . . . . . . . . . . . . . . . . . 14.8.1 Ordinary Points . . . . . . . . . . . . . . . . . . . . . 14.8.2 Regular Singular Points . . . . . . . . . . . . . . . . . 14.8.3 Irregular Singular Points . . . . . . . . . . . . . . . . . 14.8.4 The Point at Innity . . . . . . . . . . . . . . . . . . . 14.9 Additional Exercises . . . . . . . . . . . . . . . . . . . . . . . 14.10Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.11Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.12Quiz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.13Quiz Solutions . . . . . . . . . . . . . . . . . . . . . . . . . .

viii

15 First Order Linear Systems of Dierential Equations 15.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2 Using Eigenvalues and Eigenvectors to nd Homogeneous Solutions 15.3 Matrices and Jordan Canonical Form . . . . . . . . . . . . . . . . 15.4 Using the Matrix Exponential . . . . . . . . . . . . . . . . . . . . 15.5 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.6 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.7 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Theory of Linear Ordinary Dierential Equations 16.1 Exact Equations . . . . . . . . . . . . . . . . . . . . . . . . . . 16.2 Nature of Solutions . . . . . . . . . . . . . . . . . . . . . . . . 16.3 Transformation to a First Order System . . . . . . . . . . . . . . 16.4 The Wronskian . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.4.1 Derivative of a Determinant. . . . . . . . . . . . . . . . 16.4.2 The Wronskian of a Set of Functions. . . . . . . . . . . . 16.4.3 The Wronskian of the Solutions to a Dierential Equation 16.5 Well-Posed Problems . . . . . . . . . . . . . . . . . . . . . . . . 16.6 The Fundamental Set of Solutions . . . . . . . . . . . . . . . . . 16.7 Adjoint Equations . . . . . . . . . . . . . . . . . . . . . . . . . 16.8 Additional Exercises . . . . . . . . . . . . . . . . . . . . . . . . 16.9 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.10Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.11Quiz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.12Quiz Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Techniques for Linear Dierential 17.1 Constant Coecient Equations 17.1.1 Second Order Equations 17.1.2 Real-Valued Solutions .

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847 847 848 853 861 866 871 873 901 901 902 906 907 907 908 910 912 914 917 920 921 923 929 930

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ix

17.1.3 Higher Order Equations . . . . . . . . Euler Equations . . . . . . . . . . . . . . . . 17.2.1 Real-Valued Solutions . . . . . . . . . Exact Equations . . . . . . . . . . . . . . . . Equations Without Explicit Dependence on y . Reduction of Order . . . . . . . . . . . . . . . *Reduction of Order and the Adjoint Equation Additional Exercises . . . . . . . . . . . . . . Hints . . . . . . . . . . . . . . . . . . . . . . Solutions . . . . . . . . . . . . . . . . . . . .

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938 941 943 946 947 948 949 952 958 961 985 985 987 991 993 996 998 1001 1002 1005 1007

18 Techniques for Nonlinear Dierential Equations 18.1 Bernoulli Equations . . . . . . . . . . . . . . . . . . 18.2 Riccati Equations . . . . . . . . . . . . . . . . . . . 18.3 Exchanging the Dependent and Independent Variables 18.4 Autonomous Equations . . . . . . . . . . . . . . . . 18.5 *Equidimensional-in-x Equations . . . . . . . . . . . . 18.6 *Equidimensional-in-y Equations . . . . . . . . . . . . 18.7 *Scale-Invariant Equations . . . . . . . . . . . . . . . 18.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . 18.9 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . 18.10Solutions . . . . . . . . . . . . . . . . . . . . . . . . 19 Transformations and Canonical Forms 19.1 The Constant Coecient Equation . . . . . . . . . 19.2 Normal Form . . . . . . . . . . . . . . . . . . . . . 19.2.1 Second Order Equations . . . . . . . . . . . 19.2.2 Higher Order Dierential Equations . . . . . 19.3 Transformations of the Independent Variable . . . . 19.3.1 Transformation to the form u + a(x) u = 0

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19.4

19.5 19.6 19.7 20 The 20.1 20.2 20.3 20.4 20.5 20.6 20.7

19.3.2 Transformation to a Constant Coecient Equation Integral Equations . . . . . . . . . . . . . . . . . . . . . 19.4.1 Initial Value Problems . . . . . . . . . . . . . . . 19.4.2 Boundary Value Problems . . . . . . . . . . . . . Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . Dirac Delta Function Derivative of the Heaviside Function The Delta Function as a Limit . . . . Higher Dimensions . . . . . . . . . . Non-Rectangular Coordinate Systems Exercises . . . . . . . . . . . . . . . Hints . . . . . . . . . . . . . . . . . Solutions . . . . . . . . . . . . . . .

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1042 . 1042 . 1044 . 1046 . 1047 . 1049 . 1051 . 1053 1060 . 1060 . 1062 . 1066 . 1066 . 1069 . 1072 . 1075 . 1075 . 1077 . 1078 . 1080 . 1083

21 Inhomogeneous Dierential Equations 21.1 Particular Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Method of Undetermined Coecients . . . . . . . . . . . . . . . . . . . . . . . . . . 21.3 Variation of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.3.1 Second Order Dierential Equations . . . . . . . . . . . . . . . . . . . . . . . 21.3.2 Higher Order Dierential Equations . . . . . . . . . . . . . . . . . . . . . . . 21.4 Piecewise Continuous Coecients and Inhomogeneities . . . . . . . . . . . . . . . . . 21.5 Inhomogeneous Boundary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . 21.5.1 Eliminating Inhomogeneous Boundary Conditions . . . . . . . . . . . . . . . . 21.5.2 Separating Inhomogeneous Equations and Inhomogeneous Boundary Conditions 21.5.3 Existence of Solutions of Problems with Inhomogeneous Boundary Conditions . 21.6 Green Functions for First Order Equations . . . . . . . . . . . . . . . . . . . . . . . 21.7 Green Functions for Second Order Equations . . . . . . . . . . . . . . . . . . . . . .

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xi

21.7.1 Green Functions for Sturm-Liouville Problems . 21.7.2 Initial Value Problems . . . . . . . . . . . . . 21.7.3 Problems with Unmixed Boundary Conditions . 21.7.4 Problems with Mixed Boundary Conditions . . 21.8 Green Functions for Higher Order Problems . . . . . . 21.9 Fredholm Alternative Theorem . . . . . . . . . . . . 21.10Exercises . . . . . . . . . . . . . . . . . . . . . . . . 21.11Hints . . . . . . . . . . . . . . . . . . . . . . . . . . 21.12Solutions . . . . . . . . . . . . . . . . . . . . . . . . 21.13Quiz . . . . . . . . . . . . . . . . . . . . . . . . . . 21.14Quiz Solutions . . . . . . . . . . . . . . . . . . . . . 22 Dierence Equations 22.1 Introduction . . . . . . . . . . . . . . . . . . 22.2 Exact Equations . . . . . . . . . . . . . . . . 22.3 Homogeneous First Order . . . . . . . . . . . 22.4 Inhomogeneous First Order . . . . . . . . . . 22.5 Homogeneous Constant Coecient Equations . 22.6 Reduction of Order . . . . . . . . . . . . . . . 22.7 Exercises . . . . . . . . . . . . . . . . . . . . 22.8 Hints . . . . . . . . . . . . . . . . . . . . . . 22.9 Solutions . . . . . . . . . . . . . . . . . . . .

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1093 1096 1099 1101 1105 1110 1118 1124 1127 1165 1166

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1167 . 1167 . 1169 . 1170 . 1172 . 1175 . 1178 . 1180 . 1181 . 1182 1185 . 1185 . 1189 . 1199 . 1202 . 1204 . 1208

23 Series Solutions of Dierential Equations 23.1 Ordinary Points . . . . . . . . . . . . . . . . . . 23.1.1 Taylor Series Expansion for a Second Order 23.2 Regular Singular Points of Second Order Equations 23.2.1 Indicial Equation . . . . . . . . . . . . . . 23.2.2 The Case: Double Root . . . . . . . . . . 23.2.3 The Case: Roots Dier by an Integer . . .

. . . . . . . . . . . . Dierential Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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xii

Irregular Singular Points The Point at Innity . . Exercises . . . . . . . . Hints . . . . . . . . . . Solutions . . . . . . . . Quiz . . . . . . . . . . Quiz Solutions . . . . .

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24 Asymptotic Expansions 24.1 Asymptotic Relations . . . . . . . . . . . . . . 24.2 Leading Order Behavior of Dierential Equations 24.3 Integration by Parts . . . . . . . . . . . . . . . 24.4 Asymptotic Series . . . . . . . . . . . . . . . . 24.5 Asymptotic Expansions of Dierential Equations 24.5.1 The Parabolic Cylinder Equation. . . . . 25 Hilbert Spaces 25.1 Linear Spaces . . . . . . . . . . . 25.2 Inner Products . . . . . . . . . . . 25.3 Norms . . . . . . . . . . . . . . . 25.4 Linear Independence. . . . . . . . . 25.5 Orthogonality . . . . . . . . . . . 25.6 Gramm-Schmidt Orthogonalization 25.7 Orthonormal Function Expansion . 25.8 Sets Of Functions . . . . . . . . . 25.9 Least Squares Fit to a Function and 25.10Closure Relation . . . . . . . . . . 25.11Linear Operators . . . . . . . . . . 25.12Exercises . . . . . . . . . . . . . . 25.13Hints . . . . . . . . . . . . . . . .

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1253 . 1253 . 1257 . 1266 . 1273 . 1274 . 1274 1280 . 1280 . 1282 . 1283 . 1285 . 1285 . 1286 . 1288 . 1290 . 1297 . 1300 . 1305 . 1306 . 1307

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xiii

25.14Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1308 26 Self 26.1 26.2 26.3 26.4 26.5 Adjoint Linear Operators Adjoint Operators . . . . . Self-Adjoint Operators . . . Exercises . . . . . . . . . . Hints . . . . . . . . . . . . Solutions . . . . . . . . . . 1310 . 1310 . 1311 . 1314 . 1315 . 1316 1317 . 1317 . 1318 . 1321 . 1321 . 1326 . 1329 . 1330 . 1331 1333 . 1333 . 1336 . 1340 . 1344 . 1347 . 1348 . 1349 . 1352 . 1361 . 1361

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27 Self-Adjoint Boundary Value Problems 27.1 Summary of Adjoint Operators . . . 27.2 Formally Self-Adjoint Operators . . . 27.3 Self-Adjoint Problems . . . . . . . . 27.4 Self-Adjoint Eigenvalue Problems . . 27.5 Inhomogeneous Equations . . . . . . 27.6 Exercises . . . . . . . . . . . . . . . 27.7 Hints . . . . . . . . . . . . . . . . . 27.8 Solutions . . . . . . . . . . . . . . .

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28 Fourier Series 28.1 An Eigenvalue Problem. . . . . . . . . . . . . . . . . . 28.2 Fourier Series. . . . . . . . . . . . . . . . . . . . . . . 28.3 Least Squares Fit . . . . . . . . . . . . . . . . . . . . 28.4 Fourier Series for Functions Dened on Arbitrary Ranges 28.5 Fourier Cosine Series . . . . . . . . . . . . . . . . . . . 28.6 Fourier Sine Series . . . . . . . . . . . . . . . . . . . . 28.7 Complex Fourier Series and Parsevals Theorem . . . . . 28.8 Behavior of Fourier Coecients . . . . . . . . . . . . . 28.9 Gibbs Phenomenon . . . . . . . . . . . . . . . . . . . 28.10Integrating and Dierentiating Fourier Series . . . . . .

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xiv

28.11Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1366 28.12Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1374 28.13Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1376 29 Regular Sturm-Liouville Problems 29.1 Derivation of the Sturm-Liouville Form . . . . . . . . . . . . 29.2 Properties of Regular Sturm-Liouville Problems . . . . . . . . 29.3 Solving Dierential Equations With Eigenfunction Expansions 29.4 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29.5 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29.6 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Integrals and Convergence 30.1 Uniform Convergence of Integrals . . . 30.2 The Riemann-Lebesgue Lemma . . . . 30.3 Cauchy Principal Value . . . . . . . . 30.3.1 Integrals on an Innite Domain 30.3.2 Singular Functions . . . . . . . 1423 . 1423 . 1425 . 1436 . 1442 . 1446 . 1448 1473 . 1473 . 1474 . 1475 . 1475 . 1476 1478 . 1478 . 1480 . 1483 . 1488 . 1491 . 1493 . 1496 . 1498 . 1501 . 1508

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31 The Laplace Transform 31.1 The Laplace Transform . . . . . . . . . . . . . . . . 31.2 The Inverse Laplace Transform . . . . . . . . . . . . 31.2.1 f (s) with Poles . . . . . . . . . . . . . . . . 31.2.2 f (s) with Branch Points . . . . . . . . . . . . 31.2.3 Asymptotic Behavior of f (s) . . . . . . . . . 31.3 Properties of the Laplace Transform . . . . . . . . . . 31.4 Constant Coecient Dierential Equations . . . . . . 31.5 Systems of Constant Coecient Dierential Equations 31.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . 31.7 Hints . . . . . . . . . . . . . . . . . . . . . . . . . .

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xv

31.8 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1511 32 The Fourier Transform 32.1 Derivation from a Fourier Series . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.2 The Fourier Transform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.2.1 A Word of Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.3 Evaluating Fourier Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.3.1 Integrals that Converge . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.3.2 Cauchy Principal Value and Integrals that are Not Absolutely Convergent. . 32.3.3 Analytic Continuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.4 Properties of the Fourier Transform . . . . . . . . . . . . . . . . . . . . . . . . . 32.4.1 Closure Relation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.4.2 Fourier Transform of a Derivative. . . . . . . . . . . . . . . . . . . . . . . 32.4.3 Fourier Convolution Theorem. . . . . . . . . . . . . . . . . . . . . . . . . 32.4.4 Parsevals Theorem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.4.5 Shift Property. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.4.6 Fourier Transform of x f(x). . . . . . . . . . . . . . . . . . . . . . . . . . 32.5 Solving Dierential Equations with the Fourier Transform . . . . . . . . . . . . . 32.6 The Fourier Cosine and Sine Transform . . . . . . . . . . . . . . . . . . . . . . . 32.6.1 The Fourier Cosine Transform . . . . . . . . . . . . . . . . . . . . . . . . 32.6.2 The Fourier Sine Transform . . . . . . . . . . . . . . . . . . . . . . . . . 32.7 Properties of the Fourier Cosine and Sine Transform . . . . . . . . . . . . . . . . 32.7.1 Transforms of Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . 32.7.2 Convolution Theorems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.7.3 Cosine and Sine Transform in Terms of the Fourier Transform . . . . . . . 32.8 Solving Dierential Equations with the Fourier Cosine and Sine Transforms . . . . 32.9 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.10Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.11Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1543 . 1543 . 1545 . 1548 . 1549 . 1549 . 1552 . 1554 . 1556 . 1556 . 1557 . 1559 . 1562 . 1564 . 1564 . 1565 . 1567 . 1567 . 1568 . 1569 . 1569 . 1571 . 1573 . 1574 . 1576 . 1583 . 1586

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xvi

Gamma Function Eulers Formula . . . . Hankels Formula . . . . Gauss Formula . . . . . Weierstrass Formula . . Stirlings Approximation Exercises . . . . . . . . Hints . . . . . . . . . . Solutions . . . . . . . .

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1610 . 1610 . 1612 . 1614 . 1616 . 1618 . 1623 . 1624 . 1625 1627 . 1627 . 1628 . 1631 . 1633 . 1634 . 1635 . 1638 . 1641 . 1644 . 1645 . 1649 . 1651 . 1651 . 1655 . 1660 . 1662

34 Bessel Functions 34.1 Bessels Equation . . . . . . . . . . . . . . . . . . . . 34.2 Frobeneius Series Solution about z = 0 . . . . . . . . . 34.2.1 Behavior at Innity . . . . . . . . . . . . . . . . 34.3 Bessel Functions of the First Kind . . . . . . . . . . . . 34.3.1 The Bessel Function Satises Bessels Equation . 34.3.2 Series Expansion of the Bessel Function . . . . . 34.3.3 Bessel Functions of Non-Integer Order . . . . . 34.3.4 Recursion Formulas . . . . . . . . . . . . . . . 34.3.5 Bessel Functions of Half-Integer Order . . . . . 34.4 Neumann Expansions . . . . . . . . . . . . . . . . . . 34.5 Bessel Functions of the Second Kind . . . . . . . . . . 34.6 Hankel Functions . . . . . . . . . . . . . . . . . . . . . 34.7 The Modied Bessel Equation . . . . . . . . . . . . . . 34.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . 34.9 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . 34.10Solutions . . . . . . . . . . . . . . . . . . . . . . . . .

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xvii

1685

Equations 1686 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1687 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1688 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1689 1690 . 1690 . 1691 . 1696 . 1697 . 1699 . 1701 . 1702 . 1703 1709 . 1709 . 1709 . 1711 . 1714 . 1715 . 1718 . 1721 . 1723 . 1739 . 1744

36 Classication of Partial Dierential Equations 36.1 Classication of Second Order Quasi-Linear Equations 36.1.1 Hyperbolic Equations . . . . . . . . . . . . . 36.1.2 Parabolic equations . . . . . . . . . . . . . . 36.1.3 Elliptic Equations . . . . . . . . . . . . . . . 36.2 Equilibrium Solutions . . . . . . . . . . . . . . . . . 36.3 Exercises . . . . . . . . . . . . . . . . . . . . . . . . 36.4 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . 36.5 Solutions . . . . . . . . . . . . . . . . . . . . . . . .

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37 Separation of Variables 37.1 Eigensolutions of Homogeneous Equations . . . . . . . . . . . . . 37.2 Homogeneous Equations with Homogeneous Boundary Conditions . 37.3 Time-Independent Sources and Boundary Conditions . . . . . . . . 37.4 Inhomogeneous Equations with Homogeneous Boundary Conditions 37.5 Inhomogeneous Boundary Conditions . . . . . . . . . . . . . . . . 37.6 The Wave Equation . . . . . . . . . . . . . . . . . . . . . . . . . 37.7 General Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 37.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37.9 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37.10Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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38 Finite Transforms 1826 38.1 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1830 38.2 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1831 38.3 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1832 39 The 39.1 39.2 39.3 Diusion Equation 1836 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1837 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1839 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1840 1846 . 1846 . 1846 . 1847 . 1848 . 1851 . 1852

40 Laplaces Equation 40.1 Introduction . . . . . . . . . . 40.2 Fundamental Solution . . . . . 40.2.1 Two Dimensional Space 40.3 Exercises . . . . . . . . . . . . 40.4 Hints . . . . . . . . . . . . . . 40.5 Solutions . . . . . . . . . . . .

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41 Waves 1864 41.1 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1865 41.2 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1871 41.3 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1873 42 Similarity Methods 42.1 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.2 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.3 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1893 . 1898 . 1899 . 1900

43 Method of Characteristics 1903 43.1 First Order Linear Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1903 43.2 First Order Quasi-Linear Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1904 xix

43.3 The Method of Characteristics and the Wave Equation 43.4 The Wave Equation for an Innite Domain . . . . . . 43.5 The Wave Equation for a Semi-Innite Domain . . . . 43.6 The Wave Equation for a Finite Domain . . . . . . . 43.7 Envelopes of Curves . . . . . . . . . . . . . . . . . . 43.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . 43.9 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . 43.10Solutions . . . . . . . . . . . . . . . . . . . . . . . . 44 Transform Methods 44.1 Fourier Transform for Partial Dierential Equations 44.2 The Fourier Sine Transform . . . . . . . . . . . . 44.3 Fourier Transform . . . . . . . . . . . . . . . . . 44.4 Exercises . . . . . . . . . . . . . . . . . . . . . . 44.5 Hints . . . . . . . . . . . . . . . . . . . . . . . . 44.6 Solutions . . . . . . . . . . . . . . . . . . . . . .

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1924 . 1924 . 1926 . 1926 . 1928 . 1932 . 1934 1956 . 1956 . 1957 . 1959 . 1964 . 1966 . 1977 . 1980 2040 . 2041 . 2044 . 2045

45 Green Functions 45.1 Inhomogeneous Equations and Homogeneous Boundary Conditions 45.2 Homogeneous Equations and Inhomogeneous Boundary Conditions 45.3 Eigenfunction Expansions for Elliptic Equations . . . . . . . . . . . 45.4 The Method of Images . . . . . . . . . . . . . . . . . . . . . . . . 45.5 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45.6 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45.7 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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47 Non-Cartesian Coordinates 47.1 Spherical Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47.2 Laplaces Equation in a Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47.3 Laplaces Equation in an Annulus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

VI

Calculus of Variations

2065

48 Calculus of Variations 2066 48.1 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2067 48.2 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2081 48.3 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2085

VII

2172

49 Nonlinear Ordinary Dierential Equations 2173 49.1 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2174 49.2 Hints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2179 49.3 Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2180 50 Nonlinear Partial 50.1 Exercises . . 50.2 Hints . . . . 50.3 Solutions . . Dierential Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2202 . 2203 . 2206 . 2207

VIII

Appendices

2226

2227

A Greek Letters

xxi

B Notation C Formulas from Complex Variables D Table of Derivatives E Table of Integrals F Denite Integrals G Table of Sums H Table of Taylor Series I

Table of Laplace Transforms 2250 I.1 Properties of Laplace Transforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2250 I.2 Table of Laplace Transforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2252 2256 2259 2260 2262 2264 2266 2268

J Table of Fourier Transforms K Table of Fourier Transforms in n Dimensions L Table of Fourier Cosine Transforms M Table of Fourier Sine Transforms N Table of Wronskians O Sturm-Liouville Eigenvalue Problems P Green Functions for Ordinary Dierential Equations

xxii

Q Trigonometric Identities 2271 Q.1 Circular Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2271 Q.2 Hyperbolic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2273 R Bessel Functions 2276 R.1 Denite Integrals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2276 S Formulas from Linear Algebra T Vector Analysis U Partial Fractions V Finite Math W Physics 2277 2278 2280 2284 2285

X Probability 2286 X.1 Independent Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2286 X.2 Playing the Odds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2287 Y Economics Z Glossary 2288 2289

xxiii

Anti-Copyright

Anti-Copyright @ 1995-2001 by Mauch Publishing Company, un-Incorporated. No rights reserved. Any part of this publication may be reproduced, stored in a retrieval system, transmitted or desecrated without permission.

xxiv

Preface

During the summer before my nal undergraduate year at Caltech I set out to write a math text unlike any other, namely, one written by me. In that respect I have succeeded beautifully. Unfortunately, the text is neither complete nor polished. I have a Warnings and Disclaimers section below that is a little amusing, and an appendix on probability that I feel concisesly captures the essence of the subject. However, all the material in between is in some stage of development. I am currently working to improve and expand this text. This text is freely available from my web set. Currently Im at http://www.its.caltech.edu/sean. I post new versions a couple of times a year.

0.1

Advice to Teachers

0.2

Acknowledgments

I would like to thank Professor Saman for advising me on this project and the Caltech SURF program for providing the funding for me to write the rst edition of this book.

xxv

0.3

This book is a work in progress. It contains quite a few mistakes and typos. I would greatly appreciate your constructive criticism. You can reach me at sean@its.caltech.edu. Reading this book impairs your ability to drive a car or operate machinery. This book has been found to cause drowsiness in laboratory animals. This book contains twenty-three times the US RDA of ber. Caution: FLAMMABLE - Do not read while smoking or near a re. If infection, rash, or irritation develops, discontinue use and consult a physician. Warning: For external use only. Use only as directed. Intentional misuse by deliberately concentrating contents can be harmful or fatal. KEEP OUT OF REACH OF CHILDREN. In the unlikely event of a water landing do not use this book as a otation device. The material in this text is ction; any resemblance to real theorems, living or dead, is purely coincidental. This is by far the most amusing section of this book. Finding the typos and mistakes in this book is left as an exercise for the reader. (Eye ewes a spelling chequer from thyme too thyme, sew their should knot bee two many misspellings. Though I aint so sure the grammars too good.) The theorems and methods in this text are subject to change without notice. This is a chain book. If you do not make seven copies and distribute them to your friends within ten days of obtaining this text you will suer great misfortune and other nastiness. The surgeon general has determined that excessive studying is detrimental to your social life. xxvi

This text has been buered for your protection and ribbed for your pleasure. Stop reading this rubbish and get back to work!

0.4

Suggested Use

This text is well suited to the student, professional or lay-person. It makes a superb gift. This text has a boquet that is light and fruity, with some earthy undertones. It is ideal with dinner or as an apertif. Bon apetit!

0.5

The title is only making light of naming conventions in the sciences and is not an insult to engineers. If you want to learn about some mathematical subject, look for books with Introduction or Elementary in the title. If it is an Intermediate text it will be incomprehensible. If it is Advanced then not only will it be incomprehensible, it will have low production qualities, i.e. a crappy typewriter font, no graphics and no examples. There is an exception to this rule: When the title also contains the word Scientists or Engineers the advanced book may be quite suitable for actually learning the material.

xxvii

Part I Algebra

1.1 Sets

Denition. A set is a collection of objects. We call the objects, elements. A set is denoted by listing elements the between braces. For example: {e, , , 1} is the set of the integer 1, the pure imaginary number = 1 and the transcendental numbers e = 2.7182818 . . . and = 3.1415926 . . .. For elements of a set, we do not count multiplicities. We regard the set {1, 2, 2, 3, 3, 3} as identical to the set {1, 2, 3}. Order is not signicant in sets. The set {1, 2, 3} is equivalent to {3, 2, 1}. In enumerating the elements of a set, we use ellipses to indicate patterns. We denote the set of positive integers as {1, 2, 3, . . .}. We also denote sets with the notation {x|conditions on x} for sets that are more easily described than enumerated. This is read as the set of elements x such that . . . . x S is the notation for x is an element of the set S. To express the opposite we have x S for x is not an element of the set S. Examples. We have notations for denoting some of the commonly encountered sets. = {} is the empty set, the set containing no elements. Z = {. . . , 3, 2, 1, 0, 1, 2, 3 . . .} is the set of integers. (Z is for Zahlen, the German word for number.) 2

1 2

R = {x|x = a1 a2 an .b1 b2 } is the set of real numbers, i.e. the set of numbers with decimal expansions.

C = {a + b|a, b R, 2 = 1} is the set of complex numbers. is the square root of 1. (If you havent seen complex numbers before, dont dismay. Well cover them later.) Z+ , Q+ and R+ are the sets of positive integers, rationals and reals, respectively. For example, Z+ = {1, 2, 3, . . .}. Z0+ , Q0+ and R0+ are the sets of non-negative integers, rationals and reals, respectively. For example, Z0+ = {0, 1, 2, . . .}. (a . . . b) denotes an open interval on the real axis. (a . . . b) {x|x R, a < x < b} We use brackets to denote the closed interval. [a..b] {x|x R, a x b} The cardinality or order of a set S is denoted |S|. For nite sets, the cardinality is the number of elements in the set. The Cartesian product of two sets is the set of ordered pairs: X Y {(x, y)|x X, y Y }. The Cartesian product of n sets is the set of ordered n-tuples: X1 X2 Xn {(x1 , x2 , . . . , xn )|x1 X1 , x2 X2 , . . . , xn Xn }. Equality. Two sets S and T are equal if each element of S is an element of T and vice versa. This is denoted, S = T . Inequality is S = T , of course. S is a subset of T , S T , if every element of S is an element of T . S is a proper subset of T , S T , if S T and S = T . For example: The empty set is a subset of every set, S. The rational numbers are a proper subset of the real numbers, Q R.

Note that with this description, we enumerate each rational number an innite number of times. For example: 1/2 = 2/4 = 3/6 = (1)/(2) = . This does not pose a problem as we do not count multiplicities. 2 Guess what R is for.

1

Operations. The union of two sets, S T , is the set whose elements are in either of the two sets. The union of n sets, n Sj S1 S2 Sn j=1 is the set whose elements are in any of the sets Sj . The intersection of two sets, S T , is the set whose elements are in both of the two sets. In other words, the intersection of two sets in the set of elements that the two sets have in common. The intersection of n sets, n Sj S1 S2 Sn j=1 is the set whose elements are in all of the sets Sj . If two sets have no elements in common, S T = , then the sets are disjoint. If T S, then the dierence between S and T , S \ T , is the set of elements in S which are not in T . S \ T {x|x S, x T } The dierence of sets is also denoted S T . Properties. The following properties are easily veried from the above denitions. S = S, S = , S \ = S, S \ S = . Commutative. S T = T S, S T = T S. Associative. (S T ) U = S (T U ) = S T U , (S T ) U = S (T U ) = S T U . Distributive. S (T U ) = (S T ) (S U ), S (T U ) = (S T ) (S U ).

1.2

Single-Valued Functions. A single-valued function or single-valued mapping is a mapping of the elements x X f into elements y Y . This is expressed as f : X Y or X Y . If such a function is well-dened, then for each x X there exists a unique element of y such that f (x) = y. The set X is the domain of the function, Y is the codomain, (not to be confused with the range, which we introduce shortly). To denote the value of a function on a 4

particular element we can use any of the notations: f (x) = y, f : x y or simply x y. f is the identity map on X if f (x) = x for all x X. Let f : X Y . The range or image of f is f (X) = {y|y = f (x) for some x X}. The range is a subset of the codomain. For each Z Y , the inverse image of Z is dened: f 1 (Z) {x X|f (x) = z for some z Z}. Examples. Finite polynomials, f (x) = n ak xk , ak R, and the exponential function, f (x) = ex , are examples of single k=0 valued functions which map real numbers to real numbers. The greatest integer function, f (x) = x , is a mapping from R to Z. x is dened as the greatest integer less than or equal to x. Likewise, the least integer function, f (x) = x , is the least integer greater than or equal to x. The -jectives. A function is injective if for each x1 = x2 , f (x1 ) = f (x2 ). In other words, distinct elements are mapped to distinct elements. f is surjective if for each y in the codomain, there is an x such that y = f (x). If a function is both injective and surjective, then it is bijective. A bijective function is also called a one-to-one mapping. Examples. The exponential function f (x) = ex , considered as a mapping from R to R+ , is bijective, (a one-to-one mapping). f (x) = x2 is a bijection from R+ to R+ . f is not injective from R to R+ . For each positive y in the range, there are two values of x such that y = x2 . f (x) = sin x is not injective from R to [1..1]. For each y [1..1] there exists an innite number of values of x such that y = sin x.

Injective

Surjective

Bijective

1.3

If y = f (x), then we can write x = f 1 (y) where f 1 is the inverse of f . If y = f (x) is a one-to-one function, then f 1 (y) is also a one-to-one function. In this case, x = f 1 (f (x)) = f (f 1 (x)) for values of x where both f (x) and f 1 (x) are dened. For example ln x, which maps R+ to R is the inverse of ex . x = eln x = ln(ex ) for all x R+ . (Note the x R+ ensures that ln x is dened.) If y = f (x) is a many-to-one function, then x = f 1 (y) is a one-to-many function. f 1 (y) is a multi-valued function. We have x = f (f 1 (x)) for values of x where f 1 (x) is dened, however x = f 1 (f (x)). There are diagrams showing one-to-one, many-to-one and one-to-many functions in Figure 1.2. Example 1.3.1 y = x2 , a many-to-one function has the inverse x = y 1/2 . For each positive y, there are two values of x such that x = y 1/2 . y = x2 and y = x1/2 are graphed in Figure 1.3.

We say that there are two branches of y = x1/2 : the positive and the negative branch. We denote the positive 1/2 branch as y = x; the negative branch is y = x. We call x the principal branch of x . Note that x is a 6

one-to-one

many-to-one

one-to-many

domain

range

domain

range

domain

range

Figure 1.3: y = x2 and y = x1/2 one-to-one function. Finally, x = (x1/2 )2 since ( x)2 = x, but x = (x2 )1/2 since (x2 )1/2 = x. y = x is graphed in Figure 1.4. Now consider the many-to-one function y = sin x. The inverse is x = arcsin y. For each y [1..1] there are an innite number of values x such that x = arcsin y. In Figure 1.5 is a graph of y = sin x and a graph of a few branches of y = arcsin x. Example 1.3.2 arcsin x has an innite number of branches. We will denote the principal branch by Arcsin x which maps [1..1] to .. . Note that x = sin(arcsin x), but x = arcsin(sin x). y = Arcsin x in Figure 1.6. 2 2

Figure 1.4: y =

Figure 1.6: y = Arcsin x Example 1.3.3 Consider 11/3 . Since x3 is a one-to-one function, x1/3 is a single-valued function. (See Figure 1.7.) 11/3 = 1.

Figure 1.7: y = x3 and y = x1/3 Example 1.3.4 Consider arccos(1/2). cos x and a portion of arccos x are graphed in Figure 1.8. The equation cos x = 1/2 has the two solutions x = /3 in the range x (..]. We use the periodicity of the cosine, cos(x + 2) = cos x, to nd the remaining solutions. arccos(1/2) = {/3 + 2n}, n Z.

1.4

Transforming Equations

Consider the equation g(x) = h(x) and the single-valued function f (x). A particular value of x is a solution of the equation if substituting that value into the equation results in an identity. In determining the solutions of an equation, 9

we often apply functions to each side of the equation in order to simplify its form. We apply the function to obtain a second equation, f (g(x)) = f (h(x)). If x = is a solution of the former equation, (let = g() = h()), then it is necessarily a solution of latter. This is because f (g()) = f (h()) reduces to the identity f () = f (). If f (x) is bijective, then the converse is true: any solution of the latter equation is a solution of the former equation. Suppose that x = is a solution of the latter, f (g()) = f (h()). That f (x) is a one-to-one mapping implies that g() = h(). Thus x = is a solution of the former equation. It is always safe to apply a one-to-one, (bijective), function to an equation, (provided it is dened for that domain). For example, we can apply f (x) = x3 or f (x) = ex , considered as mappings on R, to the equation x = 1. The equations x3 = 1 and ex = e each have the unique solution x = 1 for x R. In general, we must take care in applying functions to equations. If we apply a many-to-one function, we may 2 introduce spurious solutions. Applying f (x) = x2 to the equation x = results in x2 = 4 , which has the two solutions, 2 2 x = { }. Applying f (x) = sin x results in x2 = 4 , which has an innite number of solutions, x = { +2n | n Z}. 2 2 We do not generally apply a one-to-many, (multi-valued), function to both sides of an equation as this rarely is useful. Rather, we typically use the denition of the inverse function. Consider the equation sin2 x = 1. Applying the function f (x) = x1/2 to the equation would not get us anywhere. sin2 x

1/2

= 11/2

Since (sin2 x)1/2 = sin x, we cannot simplify the left side of the equation. Instead we could use the denition of f (x) = x1/2 as the inverse of the x2 function to obtain sin x = 11/2 = 1. Now note that we should not just apply arcsin to both sides of the equation as arcsin(sin x) = x. Instead we use the denition of arcsin as the inverse of sin. x = arcsin(1) 10

x = arcsin(1) has the solutions x = /2 + 2n and x = arcsin(1) has the solutions x = /2 + 2n. We enumerate the solutions. + n | n Z x= 2

11

1.5

Exercises

Exercise 1.1 The area of a circle is directly proportional to the square of its diameter. What is the constant of proportionality? Hint, Solution Exercise 1.2 Consider the equation x+1 x2 1 = 2 . y2 y 4 1. Why might one think that this is the equation of a line? 2. Graph the solutions of the equation to demonstrate that it is not the equation of a line. Hint, Solution Exercise 1.3 Consider the function of a real variable, f (x) = What is the domain and range of the function? Hint, Solution Exercise 1.4 The temperature measured in degrees Celsius 3 is linearly related to the temperature measured in degrees Fahrenheit 4 . Water freezes at 0 C = 32 F and boils at 100 C = 212 F . Write the temperature in degrees Celsius as a function of degrees Fahrenheit.

Originally, it was called degrees Centigrade. centi because there are 100 degrees between the two calibration points. It is now called degrees Celsius in honor of the inventor. 4 The Fahrenheit scale, named for Daniel Fahrenheit, was originally calibrated with the freezing point of salt-saturated water to be 0 . Later, the calibration points became the freezing point of water, 32 , and body temperature, 96 . With this method, there are 64 divisions between the calibration points. Finally, the upper calibration point was changed to the boiling point of water at 212 . This gave 180 divisions, (the number of degrees in a half circle), between the two calibration points.

3

x2

1 . +2

12

Hint, Solution Exercise 1.5 Consider the function graphed in Figure 1.9. Sketch graphs of f (x), f (x + 3), f (3 x) + 2, and f 1 (x). You may use the blank grids in Figure 1.10.

Figure 1.9: Graph of the function. Hint, Solution Exercise 1.6 A culture of bacteria grows at the rate of 10% per minute. At 6:00 pm there are 1 billion bacteria. How many bacteria are there at 7:00 pm? How many were there at 3:00 pm? Hint, Solution Exercise 1.7 The graph in Figure 1.11 shows an even function f (x) = p(x)/q(x) where p(x) and q(x) are rational quadratic polynomials. Give possible formulas for p(x) and q(x). Hint, Solution 13

Figure 1.10: Blank grids. Exercise 1.8 Find a polynomial of degree 100 which is zero only at x = 2, 1, and is non-negative. Hint, Solution

14

10

1.6

Hints

Hint 1.1 area = constant diameter2 . Hint 1.2 A pair (x, y) is a solution of the equation if it make the equation an identity. Hint 1.3 The domain is the subset of R on which the function is dened. Hint 1.4 Find the slope and x-intercept of the line. Hint 1.5 The inverse of the function is the reection of the function across the line y = x. Hint 1.6 The formula for geometric growth/decay is x(t) = x0 rt , where r is the rate.

15

Hint 1.7 Note that p(x) and q(x) appear as a ratio, they are determined only up to a multiplicative constant. We may take the leading coecient of q(x) to be unity. p(x) ax2 + bx + c f (x) = = 2 q(x) x + x + Use the properties of the function to solve for the unknown parameters. Hint 1.8 Write the polynomial in factored form.

16

1.7

Solutions

Solution 1.1 area = radius2 area = diameter2 4 The constant of proportionality is . 4 Solution 1.2 1. If we multiply the equation by y 2 4 and divide by x + 1, we obtain the equation of a line. y+2=x1 2. We factor the quadratics on the right side of the equation. x+1 (x + 1)(x 1) = . y2 (y 2)(y + 2) We note that one or both sides of the equation are undened at y = 2 because of division by zero. There are no solutions for these two values of y and we assume from this point that y = 2. We multiply by (y 2)(y + 2). (x + 1)(y + 2) = (x + 1)(x 1) For x = 1, the equation becomes the identity 0 = 0. Now we consider x = 1. We divide by x + 1 to obtain the equation of a line. y+2=x1 y =x3 Now we collect the solutions we have found. {(1, y) : y = 2} {(x, x 3) : x = 1, 5} The solutions are depicted in Figure /refg not a line. 17

-6

-4

-2 -2

-4

-6

x+1 y2

x2 1 . y 2 4

Solution 1.3 The denominator is nonzero for all x R. Since we dont have any division by zero problems, the domain of the function is R. For x R, 1 2. 0< 2 x +2 Consider 1 . (1.1) y= 2 x +2 For any y (0 . . . 1/2], there is at least one value of x that satises Equation 1.1. x2 + 2 = x= Thus the range of the function is (0 . . . 1/2] 18 1 y

1 2 y

Solution 1.4 Let c denote degrees Celsius and f denote degrees Fahrenheit. The line passes through the points (f, c) = (32, 0) and (f, c) = (212, 100). The x-intercept is f = 32. We calculate the slope of the line. slope = The relationship between fahrenheit and celcius is 5 c = (f 32). 9 Solution 1.5 We plot the various transformations of f (x). Solution 1.6 The formula for geometric growth/decay is x(t) = x0 rt , where r is the rate. Let t = 0 coincide with 6:00 pm. We determine x0 . x(0) = 109 = x0 11 10

0

= x0

x0 = 109 At 7:00 pm the number of bacteria is 10 At 3:00 pm the number of bacteria was 109 11 10

180 9

11 10

60

19

Figure 1.13: Graphs of f (x), f (x + 3), f (3 x) + 2, and f 1 (x). Solution 1.7 We write p(x) and q(x) as general quadratic polynomials. p(x) ax2 + bx + c f (x) = = q(x) x2 + x + We will use the properties of the function to solve for the unknown parameters. 20

Note that p(x) and q(x) appear as a ratio, they are determined only up to a multiplicative constant. We may take the leading coecient of q(x) to be unity. f (x) = p(x) ax2 + bx + c = 2 q(x) x + x +

f (x) has a second order zero at x = 0. This means that p(x) has a second order zero there and that = 0. f (x) = ax2 x2 + x +

We note that f (x) 2 as x . This determines the parameter a. lim f (x) = lim ax2 x x2 + x + 2ax = lim x 2x + 2a = lim x 2 =a 2x2 x2 + x +

f (x) =

Now we use the fact that f (x) is even to conclude that q(x) is even and thus = 0. f (x) = Finally, we use that f (1) = 1 to determine . f (x) = 2x2 x2 + 1 2x2 x2 +

21

Solution 1.8 Consider the polynomial p(x) = (x + 2)40 (x 1)30 (x )30 . It is of degree 100. Since the factors only vanish at x = 2, 1, , p(x) only vanishes there. Since factors are nonnegative, the polynomial is non-negative.

22

Chapter 2 Vectors

2.1

2.1.1

Vectors

Scalars and Vectors

A vector is a quantity having both a magnitude and a direction. Examples of vector quantities are velocity, force and position. One can represent a vector in n-dimensional space with an arrow whose initial point is at the origin, (Figure 2.1). The magnitude is the length of the vector. Typographically, variables representing vectors are often written in capital letters, bold face or with a vector over-line, A, a, a. The magnitude of a vector is denoted |a|. A scalar has only a magnitude. Examples of scalar quantities are mass, time and speed. Vector Algebra. Two vectors are equal if they have the same magnitude and direction. The negative of a vector, denoted a, is a vector of the same magnitude as a but in the opposite direction. We add two vectors a and b by placing the tail of b at the head of a and dening a + b to be the vector with tail at the origin and head at the head of b. (See Figure 2.2.) The dierence, a b, is dened as the sum of a and the negative of b, a + (b). The result of multiplying a by a scalar is a vector of magnitude || |a| with the same/opposite direction if is positive/negative. (See Figure 2.2.) 23

x

Figure 2.1: Graphical representation of a vector in three dimensions.

b a a+b -a

2a a

Here are the properties of adding vectors and multiplying them by a scalar. They are evident from geometric 24

considerations. a+b=b+a a = a commutative laws (a + b) + c = a + (b + c) (a) = ()a associative laws (a + b) = a + b ( + )a = a + a distributive laws Zero and Unit Vectors. The additive identity element for vectors is the zero vector or null vector. This is a vector of magnitude zero which is denoted as 0. A unit vector is a vector of magnitude one. If a is nonzero then a/|a| is a unit vector in the direction of a. Unit vectors are often denoted with a caret over-line, n. Rectangular Unit Vectors. In n dimensional Cartesian space, Rn , the unit vectors in the directions of the coordinates axes are e1 , . . . en . These are called the rectangular unit vectors. To cut down on subscripts, the unit vectors in three dimensional space are often denoted with i, j and k. (Figure 2.3).

z k j i x

25

Components of a Vector. Consider a vector a with tail at the origin and head having the Cartesian coordinates (a1 , . . . , an ). We can represent this vector as the sum of n rectangular component vectors, a = a1 e1 + + an en . (See Figure 2.4.) Another notation for the vector a is a1 , . . . , an . By the Pythagorean theorem, the magnitude of the vector a is |a| = a2 + + a2 . 1 n

z

a a3 k a1 i a2 j x y

2.1.2

ij = 1 if i = j, 0 if i = j.

This notation will be useful in our work with vectors. Consider writing a vector in terms of its rectangular components. Instead of using ellipses: a = a1 e1 + + an en , we could write the expression as a sum: a = n ai ei . We can shorten this notation by leaving out the sum: a = ai ei , i=1 where it is understood that whenever an index is repeated in a term we sum over that index from 1 to n. This is the 26

Einstein summation convention. A repeated index is called a summation index or a dummy index. Other indices can take any value from 1 to n and are called free indices. Example 2.1.1 Consider the matrix equation: A x = b. We can write out the matrix and vectors explicitly. x1 b1 a11 a1n . . . = . .. . . . . . . . . . an1 ann xn bn This takes much less space when we use the summation convention. aij xj = bi Here j is a summation index and i is a free index.

2.1.3

a b |a||b| cos ,

Dot Product. The dot product or scalar product of two vectors is dened, where is the angle from a to b. From this denition one can derive the following properties: a b = b a, commutative. (a b) = (a) b = a (b), associativity of scalar multiplication. a (b + c) = a b + a c, distributive. (See Exercise 2.1.) ei ej = ij . In three dimensions, this is i i = j j = k k = 1, i j = j k = k i = 0.

a b = ai bi a1 b1 + + an bn , dot product in terms of rectangular components. If a b = 0 then either a and b are orthogonal, (perpendicular), or one of a and b are zero. 27

The Angle Between Two Vectors. We can use the dot product to nd the angle between two vectors, a and b. From the denition of the dot product, a b = |a||b| cos . If the vectors are nonzero, then = arccos ab |a||b| .

Example 2.1.2 What is the angle between i and i + j? = arccos = arccos = . 4 i (i + j) |i||i + j| 1 2

Parametric Equation of a Line. Consider a line in Rn that passes through the point a and is parallel to the vector t, (tangent). A parametric equation of the line is x = a + ut, u R.

Implicit Equation of a Line In 2D. Consider a line in R2 that passes through the point a and is normal, (orthogonal, perpendicular), to the vector n. All the lines that are normal to n have the property that x n is a constant, where x is any point on the line. (See Figure 2.5.) x n = 0 is the line that is normal to n and passes through the origin. The line that is normal to n and passes through the point a is x n = a n. 28

x n=1 x n=0

x n= a n n a

x n=-1

Figure 2.5: Equation for a line. The normal to a line determines an orientation of the line. The normal points in the direction that is above the line. A point b is (above/on/below) the line if (b a) n is (positive/zero/negative). The signed distance of a point b from the line x n = a n is n (b a) . |n| Implicit Equation of a Hyperplane. A hyperplane in Rn is an n 1 dimensional sheet which passes through a given point and is normal to a given direction. In R3 we call this a plane. Consider a hyperplane that passes through the point a and is normal to the vector n. All the hyperplanes that are normal to n have the property that x n is a constant, where x is any point in the hyperplane. x n = 0 is the hyperplane that is normal to n and passes through the origin. The hyperplane that is normal to n and passes through the point a is x n = a n. 29

The normal determines an orientation of the hyperplane. The normal points in the direction that is above the hyperplane. A point b is (above/on/below) the hyperplane if (b a) n is (positive/zero/negative). The signed distance of a point b from the hyperplane x n = a n is n (b a) . |n| Right and Left-Handed Coordinate Systems. Consider a rectangular coordinate system in two dimensions. Angles are measured from the positive x axis in the direction of the positive y axis. There are two ways of labeling the axes. (See Figure 2.6.) In one the angle increases in the counterclockwise direction and in the other the angle increases in the clockwise direction. The former is the familiar Cartesian coordinate system.

y x

Figure 2.6: There are two ways of labeling the axes in two dimensions. There are also two ways of labeling the axes in a three-dimensional rectangular coordinate system. These are called right-handed and left-handed coordinate systems. See Figure 2.7. Any other labelling of the axes could be rotated into one of these congurations. The right-handed system is the one that is used by default. If you put your right thumb in the direction of the z axis in a right-handed coordinate system, then your ngers curl in the direction from the x axis to the y axis. Cross Product. The cross product or vector product is dened, a b = |a||b| sin n, where is the angle from a to b and n is a unit vector that is orthogonal to a and b and in the direction such that the ordered triple of vectors a, b and n form a right-handed system. 30

z k j i x y y j

z k i x

Figure 2.7: Right and left handed coordinate systems. You can visualize the direction of a b by applying the right hand rule. Curl the ngers of your right hand in the direction from a to b. Your thumb points in the direction of a b. Warning: Unless you are a lefty, get in the habit of putting down your pencil before applying the right hand rule. The dot and cross products behave a little dierently. First note that unlike the dot product, the cross product is not commutative. The magnitudes of a b and b a are the same, but their directions are opposite. (See Figure 2.8.) Let a b = |a||b| sin n and b a = |b||a| sin m. The angle from a to b is the same as the angle from b to a. Since {a, b, n} and {b, a, m} are right-handed systems, m points in the opposite direction as n. Since a b = b a we say that the cross product is anti-commutative. Next we note that since |a b| = |a||b| sin , the magnitude of a b is the area of the parallelogram dened by the two vectors. (See Figure 2.9.) The area of the triangle dened by two vectors is then 1 |a b|. 2 From the denition of the cross product, one can derive the following properties: 31

a b b

a b a

Figure 2.8: The cross product is anti-commutative.

b b sin a

b a

Figure 2.9: The parallelogram and the triangle dened by two vectors. a b = b a, anti-commutative. (a b) = (a) b = a (b), associativity of scalar multiplication. a (b + c) = a b + a c, distributive. (a b) c = a (b c). The cross product is not associative. i i = j j = k k = 0. 32

i j = k, j k = i, k i = j. i j k a b = (a2 b3 a3 b2 )i + (a3 b1 a1 b3 )j + (a1 b2 a2 b1 )k = a1 a2 a3 , b1 b2 b3 cross product in terms of rectangular components. If a b = 0 then either a and b are parallel or one of a or b is zero. Scalar Triple Product. Consider the volume of the parallelopiped dened by three vectors. (See Figure 2.10.) The area of the base is ||b||c| sin |, where is the angle between b and c. The height is |a| cos , where is the angle between b c and a. Thus the volume of the parallelopiped is |a||b||c| sin cos .

b c a b

Figure 2.10: The parallelopiped dened by three vectors. Note that |a (b c)| = |a (|b||c| sin n)| = ||a||b||c| sin cos | . 33

Thus |a (b c)| is the volume of the parallelopiped. a (b c) is the volume or the negative of the volume depending on whether {a, b, c} is a right or left-handed system. Note that parentheses are unnecessary in a b c. There is only one way to interpret the expression. If you did the dot product rst then you would be left with the cross product of a scalar and a vector which is meaningless. a b c is called the scalar triple product. Plane Dened by Three Points. Three points which are not collinear dene a plane. Consider a plane that passes through the three points a, b and c. One way of expressing that the point x lies in the plane is that the vectors x a, b a and c a are coplanar. (See Figure 2.11.) If the vectors are coplanar, then the parallelopiped dened by these three vectors will have zero volume. We can express this in an equation using the scalar triple product, (x a) (b a) (c a) = 0.

x c a b

2.2

x = (x1 , x2 , . . . , xn ), 34 y = (y1 , y2 , . . . , yn ).

n

x|y x y =

i=1

xi yi .

The vectors are orthogonal if x y = 0. The norm of a vector is the length of the vector generalized to n dimensions. x = xx Consider a set of vectors {x1 , x2 , . . . , xm }. If each pair of vectors in the set is orthogonal, then the set is orthogonal. xi xj = 0 if i = j If in addition each vector in the set has norm 1, then the set is orthonormal. xi xj = ij = Here ij is known as the Kronecker delta function. Completeness. A set of n, n-dimensional vectors {x1 , x2 , . . . , xn } is complete if any n-dimensional vector can be written as a linear combination of the vectors in the set. That is, any vector y can be written

n

1 0

if i = j if i = j

y=

i=1

ci xi .

35

n

y xm =

i=1 n

ci xi

xm

=

i=1

ci xi xm

n

y=

i=1

y xi xi . xi 2

(y xi )xi .

i=1

36

2.3

Exercises

Exercise 2.1 Prove the distributive law for the dot product, a (b + c) = a b + a c. Hint, Solution Exercise 2.2 Prove that a b = ai bi a1 b1 + + an bn . Hint, Solution Exercise 2.3 What is the angle between the vectors i + j and i + 3j? Hint, Solution Exercise 2.4 Prove the distributive law for the cross product, a (b + c) = a b + a b. Hint, Solution Exercise 2.5 Show that i j k a b = a1 a2 a3 b1 b2 b3 Hint, Solution 37

Exercise 2.6 What is the area of the quadrilateral with vertices at (1, 1), (4, 2), (3, 7) and (2, 3)? Hint, Solution Exercise 2.7 What is the volume of the tetrahedron with vertices at (1, 1, 0), (3, 2, 1), (2, 4, 1) and (1, 2, 5)? Hint, Solution Exercise 2.8 What is the equation of the plane that passes through the points (1, 2, 3), (2, 3, 1) and (3, 1, 2)? What is the distance from the point (2, 3, 5) to the plane? Hint, Solution

38

2.4

Hints

Hint 2.1 First prove the distributive law when the rst vector is of unit length, n (b + c) = n b + n c. Then all the quantities in the equation are projections onto the unit vector n and you can use geometry. Hint 2.2 First prove that the dot product of a rectangular unit vector with itself is one and the dot product of two distinct rectangular unit vectors is zero. Then write a and b in rectangular components and use the distributive law. Hint 2.3 Use a b = |a||b| cos . Hint 2.4 First consider the case that both b and c are orthogonal to a. Prove the distributive law in this case from geometric considerations. Next consider two arbitrary vectors a and b. We can write b = b + b where b is orthogonal to a and b is parallel to a. Show that a b = a b . Finally prove the distributive law for arbitrary b and c. Hint 2.5 Write the vectors in their rectangular components and use, i j = k, and, i i = j j = k k = 0. 39 j k = i, k i = j,

Hint 2.6 1 The quadrilateral is composed of two triangles. The area of a triangle dened by the two vectors a and b is 2 |a b|. Hint 2.7 Justify that the area of a tetrahedron determined by three vectors is one sixth the area of the parallelogram determined by those three vectors. The area of a parallelogram determined by three vectors is the magnitude of the scalar triple product of the vectors: a b c. Hint 2.8 The equation of a line that is orthogonal to a and passes through the point b is a x = a b. The distance of a point c from the plane is a (c b) |a|

40

2.5

Solutions

Solution 2.1 First we prove the distributive law when the rst vector is of unit length, i.e., n (b + c) = n b + n c. (2.1)

From Figure 2.12 we see that the projection of the vector b + c onto n is equal to the sum of the projections b n and c n. Now we extend the result to the case when the rst vector has arbitrary length. We dene a = |a|n and multiply Equation 2.1 by the scalar, |a|. |a|n (b + c) = |a|n b + |a|n c a (b + c) = a b + a c. Solution 2.2 First note that ei ei = |ei ||ei | cos(0) = 1. Then note that that dot product of any two distinct rectangular unit vectors is zero because they are orthogonal. Now we write a and b in terms of their rectangular components and use the distributive law. a b = ai e i b j e j = ai b j e i e j = ai bj ij = ai b i Solution 2.3 Since a b = |a||b| cos , we have = arccos ab |a||b|

41

c b b+c nc nb n (b+c) n

Figure 2.12: The distributive law for the dot product. when a and b are nonzero. = arccos (i + j) (i + 3j) |i + j||i + 3j| = arccos 4 2 10 = arccos 2 5 5 0.463648

Solution 2.4 First consider the case that both b and c are orthogonal to a. b + c is the diagonal of the parallelogram dened by b and c, (see Figure 2.13). Since a is orthogonal to each of these vectors, taking the cross product of a with these vectors has the eect of rotating the vectors through /2 radians about a and multiplying their length by |a|. Note 42

that a (b + c) is the diagonal of the parallelogram dened by a b and a c. Thus we see that the distributive law holds when a is orthogonal to both b and c, a (b + c) = a b + a c.

a c

b+c

a b a (b+c)

Figure 2.13: The distributive law for the cross product. Now consider two arbitrary vectors a and b. We can write b = b + b where b is orthogonal to a and b is parallel to a, (see Figure 2.14). By the denition of the cross product, a b = |a||b| sin n. Note that |b | = |b| sin , 43

a b b

Figure 2.14: The vector b written as a sum of components orthogonal and parallel to a. and that a b is a vector in the same direction as a b. Thus we see that a b = |a||b| sin n = |a|(sin |b|)n = |a||b |n a b = a b . Now we are prepared to prove the distributive law for arbitrary b and c. a (b + c) = a (b + b + c + c ) = a ((b + c) + (b + c) ) = a ((b + c) ) = a b + a c =ab+ac a (b + c) = a b + a c

= |a||b | sin(/2)n

44

Solution 2.5 We know that i j = k, and that i i = j j = k k = 0. Now we write a and b in terms of their rectangular components and use the distributive law to expand the cross product. a b = (a1 i + a2 j + a3 k) (b1 i + b2 j + b3 k) = a1 i (b1 i + b2 j + b3 k) + a2 j (b1 i + b2 j + b3 k) + a3 k (b1 i + b2 j + b3 k) = a1 b2 k + a1 b3 (j) + a2 b1 (k) + a2 b3 i + a3 b1 j + a3 b2 (i) = (a2 b3 a3 b2 )i (a1 b3 a3 b1 )j + (a1 b2 a2 b1 )k Next we evaluate the determinant. i j k a a a a a a a1 a2 a3 = i 2 3 j 1 3 + k 1 2 b2 b3 b1 b3 b1 b2 b1 b2 b3 = (a2 b3 a3 b2 )i (a1 b3 a3 b1 )j + (a1 b2 a2 b1 )k Thus we see that, i j k a b = a1 a2 a3 b1 b2 b3 Solution 2.6 The area area of the quadrilateral is the area of two triangles. The rst triangle is dened by the vector from (1, 1) to (4, 2) and the vector from (1, 1) to (2, 3). The second triangle is dened by the vector from (3, 7) to (4, 2) and the vector from (3, 7) to (2, 3). (See Figure 2.15.) The area of a triangle dened by the two vectors a and b is 1 |a b|. 2 45 j k = i, k i = j,

The area of the quadrilateral is then, 1 1 1 1 |(3i + j) (i + 2j)| + |(i 5j) (i 4j)| = (5) + (19) = 12. 2 2 2 2

y

(3,7)

Figure 2.15: Quadrilateral. Solution 2.7 The tetrahedron is determined by the three vectors with tail at (1, 1, 0) and heads at (3, 2, 1), (2, 4, 1) and (1, 2, 5). These are 2, 1, 1 , 1, 3, 1 and 0, 1, 5 . The area of the tetrahedron is one sixth the area of the parallelogram determined by these vectors. (This is because the area of a pyramid is 1 (base)(height). The base of the tetrahedron is 3 half the area of the parallelogram and the heights are the same. 1 1 = 1 ) Thus the area of a tetrahedron determined 23 6 by three vectors is 1 |a b c|. The area of the tetrahedron is 6 1 1 7 | 2, 1, 1 1, 3, 1 1, 2, 5 | = | 2, 1, 1 13, 4, 1 | = 6 6 2

46

Solution 2.8 The two vectors with tails at (1, 2, 3) and heads at (2, 3, 1) and (3, 1, 2) are parallel to the plane. Taking the cross product of these two vectors gives us a vector that is orthogonal to the plane. 1, 1, 2 2, 1, 1 = 3, 3, 3 We see that the plane is orthogonal to the vector 1, 1, 1 and passes through the point (1, 2, 3). The equation of the plane is 1, 1, 1 x, y, z = 1, 1, 1 1, 2, 3 , x + y + z = 6. Consider the vector with tail at (1, 2, 3) and head at (2, 3, 5). The magnitude of the dot product of this vector with the unit normal vector gives the distance from the plane. 1, 1, 1 4 4 3 1, 1, 2 = = | 1, 1, 1 | 3 3

47

Part II Calculus

48

3.1 Limits of Functions

Denition of a Limit. If the value of the function y(x) gets arbitrarily close to as x approaches the point , then we say that the limit of the function as x approaches is equal to . This is written: lim y(x) =

Now we make the notion of arbitrarily close precise. For any > 0 there exists a > 0 such that |y(x) | < for all 0 < |x | < . That is, there is an interval surrounding the point x = for which the function is within of . See Figure 3.1. Note that the interval surrounding x = is a deleted neighborhood, that is it does not contain the point x = . Thus the value of the function at x = need not be equal to for the limit to exist. Indeed the function need not even be dened at x = . To prove that a function has a limit at a point we rst bound |y(x) | in terms of for values of x satisfying 0 < |x | < . Denote this upper bound by u(). Then for an arbitrary > 0, we determine a > 0 such that the the upper bound u() and hence |y(x) | is less than . 49

y + + x

Figure 3.1: The neighborhood of x = such that |y(x) | < . Example 3.1.1 Show that

x1

Consider any > 0. We need to show that there exists a > 0 such that |x2 1| < obtain a bound on |x2 1|. |x2 1| = |(x 1)(x + 1)| = |x 1||x + 1| < |x + 1| = |(x 1) + 2| < ( + 2) Now we choose a positive such that, ( + 2) = . We see that = 1 + 1,

is positive and satises the criterion that |x2 1| < for all 0 < |x 1| < . Thus the limit exists. 50

Example 3.1.2 Recall that the value of the function y() need not be equal to limx y(x) for the limit to exist. We show an example of this. Consider the function y(x) = 1 for x Z, 0 for x Z.

For what values of does limx y(x) exist? First consider Z. Then there exists an open neighborhood a < < b around such that y(x) is identically zero for x (a, b). Then trivially, limx y(x) = 0. Now consider Z. Consider any > 0. Then if |x | < 1 then |y(x) 0| = 0 < . Thus we see that limx y(x) = 0. Thus, regardless of the value of , limx y(x) = 0.

Left and Right Limits. With the notation limx+ y(x) we denote the right limit of y(x). This is the limit as x approaches from above. Mathematically: limx+ exists if for any > 0 there exists a > 0 such that |y(x) | < for all 0 < x < . The left limit limx y(x) is dened analogously. Example 3.1.3 Consider the function, approaches zero.

sin x , |x|

dened for x = 0. (See Figure 3.2.) The left and right limits exist as x sin x = 1, |x| lim lim sin x = 1 |x|

x0

lim +

x0

x x

51

Figure 3.2: Plot of sin(x)/|x|. lim (af (x) + bg(x)) = a lim f (x) + b lim g(x).

x x x

lim (f (x)g(x)) =

x

lim f (x)

lim g(x) .

lim

f (x) g(x)

Example 3.1.4 We prove that if limx f (x) = and limx g(x) = exist then lim (f (x)g(x)) = lim f (x) lim g(x) .

Since the limit exists for f (x), we know that for all > 0 there exists > 0 such that |f (x) | < for |x | < . Likewise for g(x). We seek to show that for all > 0 there exists > 0 such that |f (x)g(x) | < for |x | < . We proceed by writing |f (x)g(x) |, in terms of |f (x) | and |g(x) |, which we know how to bound. |f (x)g(x) | = |f (x)(g(x) ) + (f (x) )| |f (x)||g(x) | + |f (x) ||| If we choose a such that |f (x)||g(x) | < /2 and |f (x) ||| < /2 then we will have the desired result: |f (x)g(x) | < . Trying to ensure that |f (x)||g(x) | < /2 is hard because of the |f (x)| factor. We will replace 52

that factor with a constant. We want to write |f (x) ||| < /2 as |f (x) | < /(2||), but this is problematic for the case = 0. We x these two problems and then proceed. We choose 1 such that |f (x) | < 1 for |x | < 1 . This gives us the desired form.

Next we choose 2 such that |g(x)| < /(2(||+1)) for |x| < 2 and choose 3 such that |f (x)| < /(2(||+1)) for |x | < 3 . Let be the minimum of 1 , 2 and 3 .

|f (x)g(x) | (|| + 1)|g(x) | + |f (x) |(|| + 1) < |f (x)g(x) | < , for |x | <

+ , for |x | < 2

lim (f (x)g(x)) =

lim f (x)

lim g(x)

= .

53

x

lim y(x) =

means that y(x) gets arbitrarily close to as x approaches . For any > 0 there exists a > 0 such that |y(x) | < for all x in the neighborhood 0 < |x | < . The left and right limits, lim y(x) = and lim+ y(x) =

x x

denote the limiting value as x approaches respectively from below and above. The neighborhoods are respectively < x < 0 and 0 < x < . Properties of Limits. Let lim u(x) and lim v(x) exist.

x x

x x x

lim (u(x)v(x)) =

x

lim u(x)

lim v(x) .

lim

u(x) v(x)

3.2

Continuous Functions

Denition of Continuity. A function y(x) is said to be continuous at x = if the value of the function is equal to its limit, that is, limx y(x) = y(). Note that this one condition is actually the three conditions: y() is 54

dened, limx y(x) exists and limx y(x) = y(). A function is continuous if it is continuous at each point in its domain. A function is continuous on the closed interval [a, b] if the function is continuous for each point x (a, b) and limxa+ y(x) = y(a) and limxb y(x) = y(b). Discontinuous Functions. If a function is not continuous at a point it is called discontinuous at that point. If limx y(x) exists but is not equal to y(), then the function has a removable discontinuity. It is thus named because we could dene a continuous function z(x) = y(x) for x = , limx y(x) for x = ,

to remove the discontinuity. If both the left and right limit of a function at a point exist, but are not equal, then the function has a jump discontinuity at that point. If either the left or right limit of a function does not exist, then the function is said to have an innite discontinuity at that point. Example 3.2.1

sin x x

1 x

Properties of Continuous Functions. Arithmetic. If u(x) and v(x) are continuous at x = then u(x) v(x) and u(x)v(x) are continuous at x = . is continuous at x = if v() = 0.

u(x) v(x)

Function Composition. If u(x) is continuous at x = and v(x) is continuous at x = = u() then u(v(x)) is continuous at x = . The composition of continuous functions is a continuous function. 55

Figure 3.3: A Removable discontinuity, a Jump Discontinuity and an Innite Discontinuity Boundedness. A function which is continuous on a closed interval is bounded in that closed interval. Nonzero in a Neighborhood. If y() = 0 then there exists a neighborhood ( , + ), that y(x) = 0 for x ( , + ). > 0 of the point such

Intermediate Value Theorem. Let u(x) be continuous on [a, b]. If u(a) u(b) then there exists [a, b] such that u() = . This is known as the intermediate value theorem. A corollary of this is that if u(a) and u(b) are of opposite sign then u(x) has at least one zero on the interval (a, b). Maxima and Minima. If u(x) is continuous on [a, b] then u(x) has a maximum and a minimum on [a, b]. That is, there is at least one point [a, b] such that u() u(x) for all x [a, b] and there is at least one point [a, b] such that u() u(x) for all x [a, b]. Piecewise Continuous Functions. A function is piecewise continuous on an interval if the function is bounded on the interval and the interval can be divided into a nite number of intervals on each of which the function is continuous. For example, the greatest integer function, x , is piecewise continuous. ( x is dened to the the greatest integer less than or equal to x.) See Figure 3.4 for graphs of two piecewise continuous functions. Uniform Continuity. Consider a function f (x) that is continuous on an interval. This means that for any point in the interval and any positive there exists a > 0 such that |f (x) f ()| < for all 0 < |x | < . In general, this value of depends on both and . If can be chosen so it is a function of alone and independent of then 56

Figure 3.4: Piecewise Continuous Functions the function is said to be uniformly continuous on the interval. A sucient condition for uniform continuity is that the function is continuous on a closed interval.

3.3

The Derivative

Consider a function y(x) on the interval (x . . . x + x) for some x > 0. We dene the increment y = y(x + x) y y(x). The average rate of change, (average velocity), of the function on the interval is x . The average rate of change is the slope of the secant line that passes through the points (x, y(x)) and (x + x, y(x + x)). See Figure 3.5.

y

y x x

If the slope of the secant line has a limit as x approaches zero then we call this slope the derivative or instantaneous dy rate of change of the function at the point x. We denote the derivative by dx , which is a nice notation as the derivative y is the limit of x as x 0. dy y(x + x) y(x) lim . dx x0 x

dy d x may approach zero from below or above. It is common to denote the derivative dx by dx y, y (x), y or Dy. A function is said to be dierentiable at a point if the derivative exists there. Note that dierentiability implies continuity, but not vice versa.

Example 3.3.1 Consider the derivative of y(x) = x2 at the point x = 1. y (1) lim y(1 + x) y(1) x0 x (1 + x)2 1 = lim x0 x = lim (2 + x)

x0

=2 Figure 3.6 shows the secant lines approaching the tangent line as x approaches zero from above and below. Example 3.3.2 We can compute the derivative of y(x) = x2 at an arbitrary point x. d (x + x)2 x2 x2 = lim x0 dx x = lim (2x + x)

x0

= 2x

58

Figure 3.6: Secant lines and the tangent to x2 at x = 1. Properties. Let u(x) and v(x) be dierentiable. Let a and b be derivatives are: d du dv (au + bv) = a +b dx dx dx du dv d (uv) = v+u dx dx dx du v u dv d u = dx 2 dx dx v v d a du (u ) = aua1 dx dx du dv d (u(v(x))) = = u (v(x))v (x) dx dv dx These can be proved by using the denition of dierentiation. 59 constants. Some fundamental properties of Linearity Product Rule Quotient Rule Power Rule Chain Rule

d u = lim x0 dx v

u(x+x) v(x+x)

u(x) v(x)

x u(x + x)v(x) u(x)v(x + x) = lim x0 xv(x)v(x + x) u(x + x)v(x) u(x)v(x) u(x)v(x + x) + u(x)v(x) = lim x0 xv(x)v(x) (u(x + x) u(x))v(x) u(x)(v(x + x) v(x)) = lim x0 xv 2 (x) = = limx0

u(x+x)u(x) v(x) x

v(x+x)v(x) x

dv v du u dx dx v2

60

Trigonometric Functions. Some derivatives of trigonometric functions are: d sin x = cos x dx d cos x = sin x dx d 1 tan x = dx cos2 x d x e = ex dx d sinh x = cosh x dx d cosh x = sinh x dx d 1 tanh x = dx cosh2 x d 1 arcsin x = dx (1 x2 )1/2 d 1 arccos x = dx (1 x2 )1/2 d 1 arctan x = dx 1 + x2 d 1 ln x = dx x d 1 arcsinh x = 2 dx (x + 1)1/2 d 1 arccosh x = 2 dx (x 1)1/2 d 1 arctanh x = dx 1 x2

61

Inverse Functions. If we have a function y(x), we can consider x as a function of y, x(y). For example, if y(x) = 8x3 then x(y) = 3 y/2; if y(x) = x+2 then x(y) = 2y . The derivative of an inverse function is x+1 y1 d 1 x(y) = dy . dy dx Example 3.3.5 The inverse function of y(x) = ex is x(y) = ln y. We can obtain the derivative of the logarithm from the derivative of the exponential. The derivative of the exponential is dy = ex . dx Thus the derivative of the logarithm is 1 1 d d 1 ln y = x(y) = dy = x = . e y dy dy dx

3.4

Implicit Dierentiation

An explicitly dened function has the form y = f (x). A implicitly dened function has the form f (x, y) = 0. A few examples of implicit functions are x2 + y 2 1 = 0 and x + y + sin(xy) = 0. Often it is not possible to write an implicit equation in explicit form. This is true of the latter example above. One can calculate the derivative of y(x) in terms of x and y even when y(x) is dened by an implicit equation. Example 3.4.1 Consider the implicit equation x2 xy y 2 = 1. This implicit equation can be solved for the dependent variable. y(x) = 1 x 5x2 4 . 2 62

One can obtain the same result without rst solving for y. If we dierentiate the implicit equation, we obtain 2x y x We can solve this equation for

dy . dx

dy dy 2y = 0. dx dx

dy 2x y = dx x + 2y

We can dierentiate this expression to obtain the second derivative of y. d2 y (x + 2y)(2 y ) (2x y)(1 + 2y ) = dx2 (x + 2y)2 5(y xy ) = (x + 2y)2 Substitute in the expression for y . = Use the original implicit equation. = 10 (x + 2y)2 10(x2 xy y 2 ) (x + 2y)2

63

3.5

A dierentiable function is increasing where f (x) > 0, decreasing where f (x) < 0 and stationary where f (x) = 0. A function f (x) has a relative maxima at a point x = if there exists a neighborhood around such that f (x) f () for x (x , x + ), > 0. The relative minima is dened analogously. Note that this denition does not require that the function be dierentiable, or even continuous. We refer to relative maxima and minima collectively are relative extrema. Relative Extrema and Stationary Points. If f (x) is dierentiable and f () is a relative extrema then x = is a stationary point, f () = 0. We can prove this using left and right limits. Assume that f () is a relative maxima. Then there is a neighborhood (x , x + ), > 0 for which f (x) f (). Since f (x) is dierentiable the derivative at x = , f ( + x) f () f () = lim , x0 x exists. This in turn means that the left and right limits exist and are equal. Since f (x) f () for < x < the left limit is non-positive, f ( + x) f () f () = lim 0. x0 x Since f (x) f () for < x < + the right limit is nonnegative, f () = lim +

x0

f ( + x) f () 0. x

Thus we have 0 f () 0 which implies that f () = 0. It is not true that all stationary points are relative extrema. That is, f () = 0 does not imply that x = is an extrema. Consider the function f (x) = x3 . x = 0 is a stationary point since f (x) = x2 , f (0) = 0. However, x = 0 is neither a relative maxima nor a relative minima. It is also not true that all relative extrema are stationary points. Consider the function f (x) = |x|. The point x = 0 is a relative minima, but the derivative at that point is undened. 64

First Derivative Test. Let f (x) be dierentiable and f () = 0. If f (x) changes sign from positive to negative as we pass through x = then the point is a relative maxima. If f (x) changes sign from negative to positive as we pass through x = then the point is a relative minima. If f (x) is not identically zero in a neighborhood of x = and it does not change sign as we pass through the point then x = is not a relative extrema. Example 3.5.1 Consider y = x2 and the point x = 0. The function is dierentiable. The derivative, y = 2x, vanishes at x = 0. Since y (x) is negative for x < 0 and positive for x > 0, the point x = 0 is a relative minima. See Figure 3.7. Example 3.5.2 Consider y = cos x and the point x = 0. The function is dierentiable. The derivative, y = sin x is positive for < x < 0 and negative for 0 < x < . Since the sign of y goes from positive to negative, x = 0 is a relative maxima. See Figure 3.7. Example 3.5.3 Consider y = x3 and the point x = 0. The function is dierentiable. The derivative, y = 3x2 is positive for x < 0 and positive for 0 < x. Since y is not identically zero and the sign of y does not change, x = 0 is not a relative extrema. See Figure 3.7.

65

Concavity. If the portion of a curve in some neighborhood of a point lies above the tangent line through that point, the curve is said to be concave upward. If it lies below the tangent it is concave downward. If a function is twice dierentiable then f (x) > 0 where it is concave upward and f (x) < 0 where it is concave downward. Note that f (x) > 0 is a sucient, but not a necessary condition for a curve to be concave upward at a point. A curve may be concave upward at a point where the second derivative vanishes. A point where the curve changes concavity is called a point of inection. At such a point the second derivative vanishes, f (x) = 0. For twice continuously dierentiable functions, f (x) = 0 is a necessary but not a sucient condition for an inection point. The second derivative may vanish at places which are not inection points. See Figure 3.8.

Second Derivative Test. Let f (x) be twice dierentiable and let x = be a stationary point, f () = 0. If f () < 0 then the point is a relative maxima. If f () > 0 then the point is a relative minima. If f () = 0 then the test fails. Example 3.5.4 Consider the function f (x) = cos x and the point x = 0. The derivatives of the function are f (x) = sin x, f (x) = cos x. The point x = 0 is a stationary point, f (0) = sin(0) = 0. Since the second derivative is negative there, f (0) = cos(0) = 1, the point is a relative maxima.

66

Example 3.5.5 Consider the function f (x) = x4 and the point x = 0. The derivatives of the function are f (x) = 4x3 , f (x) = 12x2 . The point x = 0 is a stationary point. Since the second derivative also vanishes at that point the second derivative test fails. One must use the rst derivative test to determine that x = 0 is a relative minima.

3.6

Rolles Theorem. If f (x) is continuous in [a, b], dierentiable in (a, b) and f (a) = f (b) = 0 then there exists a point (a, b) such that f () = 0. See Figure 3.9.

Figure 3.9: Rolles Theorem. To prove this we consider two cases. First we have the trivial case that f (x) 0. If f (x) is not identically zero then continuity implies that it must have a nonzero relative maxima or minima in (a, b). Let x = be one of these relative extrema. Since f (x) is dierentiable, x = must be a stationary point, f () = 0. Theorem of the Mean. If f (x) is continuous in [a, b] and dierentiable in (a, b) then there exists a point x = such that f (b) f (a) f () = . ba That is, there is a point where the instantaneous velocity is equal to the average velocity on the interval. 67

Figure 3.10: Theorem of the Mean. We prove this theorem by applying Rolles theorem. Consider the new function g(x) = f (x) f (a) f (b) f (a) (x a) ba

Note that g(a) = g(b) = 0, so it satises the conditions of Rolles theorem. There is a point x = such that g () = 0. We dierentiate the expression for g(x) and substitute in x = to obtain the result. g (x) = f (x) g () = f () f (b) f (a) ba

Generalized Theorem of the Mean. If f (x) and g(x) are continuous in [a, b] and dierentiable in (a, b), then there exists a point x = such that f () f (b) f (a) = . g () g(b) g(a) We have assumed that g(a) = g(b) so that the denominator does not vanish and that f (x) and g (x) are not simultaneously zero which would produce an indeterminate form. Note that this theorem reduces to the regular theorem of the mean when g(x) = x. The proof of the theorem is similar to that for the theorem of the mean. 68

Taylors Theorem of the Mean. If f (x) is n + 1 times continuously dierentiable in (a, b) then there exists a point x = (a, b) such that (b a)2 (b a)n (n) (b a)n+1 (n+1) f (b) = f (a) + (b a)f (a) + f (a) + + f (a) + f (). 2! n! (n + 1)! For the case n = 0, the formula is f (b) = f (a) + (b a)f (), which is just a rearrangement of the terms in the theorem of the mean, f () = f (b) f (a) . ba (3.1)

3.6.1

One can use Taylors theorem to approximate functions with polynomials. Consider an innitely dierentiable function f (x) and a point x = a. Substituting x for b into Equation 3.1 we obtain, f (x) = f (a) + (x a)f (a) + (x a)2 (x a)n (n) (x a)n+1 (n+1) f (a) + + f (a) + f (). 2! n! (n + 1)!

If the last term in the sum is small then we can approximate our function with an nth order polynomial. f (x) f (a) + (x a)f (a) + (x a)2 (x a)n (n) f (a) + + f (a) 2! n!

The last term in Equation 3.6.1 is called the remainder or the error term, Rn = (x a)n+1 (n+1) f (). (n + 1)! 69

Since the function is innitely dierentiable, f (n+1) () exists and is bounded. Therefore we note that the error must vanish as x 0 because of the (x a)n+1 factor. We therefore suspect that our approximation would be a good one if x is close to a. Also note that n! eventually grows faster than (x a)n , (x a)n = 0. n n! lim So if the derivative term, f (n+1) (), does not grow to quickly, the error for a certain value of x will get smaller with increasing n and the polynomial will become a better approximation of the function. (It is also possible that the derivative factor grows very quickly and the approximation gets worse with increasing n.) Example 3.6.1 Consider the function f (x) = ex . We want a polynomial approximation of this function near the point x = 0. Since the derivative of ex is ex , the value of all the derivatives at x = 0 is f (n) (0) = e0 = 1. Taylors theorem thus states that x2 x3 xn xn+1 ex = 1 + x + e, + + + + 2! 3! n! (n + 1)! for some (0, x). The rst few polynomial approximations of the exponent about the point x = 0 are f1 (x) = 1 f2 (x) = 1 + x x2 2 x2 x3 f4 (x) = 1 + x + + 2 6 f3 (x) = 1 + x + The four approximations are graphed in Figure 3.11. Note that for the range of x we are looking at, the approximations become more accurate as the number of terms increases.

70

0.5 1

0.5 1

0.5 1

0.5 1

Figure 3.11: Four Finite Taylor Series Approximations of ex Example 3.6.2 Consider the function f (x) = cos x. We want a polynomial approximation of this function near the point x = 0. The rst few derivatives of f are f (x) = cos x f (x) = sin x f (x) = cos x f (x) = sin x f (4) (x) = cos x Its easy to pick out the pattern here, f (n) (x) = (1)n/2 cos x for even n, (n+1)/2 (1) sin x for odd n.

Since cos(0) = 1 and sin(0) = 0 the n-term approximation of the cosine is, x2 x4 x6 x2(n1) x2n 2(n1) cos x = 1 + + + (1) + cos . 2! 4! 6! (2(n 1))! (2n)! Here are graphs of the one, two, three and four term approximations. 71

1 0.5 -3 -2 -1 -0.5 -1 1 2 3

1 0.5 -3 -2 -1 -0.5 -1 1 2 3

1 0.5 -3 -2 -1 -0.5 -1 1 2 3

1 0.5 -3 -2 -1 -0.5 -1 1 2 3

Note that for the range of x we are looking at, the approximations become more accurate as the number of terms increases. Consider the ten term approximation of the cosine about x = 0, x2 x4 x18 x20 + + cos . 2! 4! 18! 20!

cos x = 1

Note that for any value of , | cos | 1. Therefore the absolute value of the error term satises, x20 |x|20 cos . 20! 20!

|R| =

x20 /20! is plotted in Figure 3.13. Note that the error is very small for x < 6, fairly small but non-negligible for x 7 and large for x > 8. The ten term approximation of the cosine, plotted below, behaves just we would predict. The error is very small until it becomes non-negligible at x 7 and large at x 8.

Example 3.6.3 Consider the function f (x) = ln x. We want a polynomial approximation of this function near the 72

10

1 0.5

-10

-5 -0.5 -1 -1.5 -2

10

Figure 3.14: Ten Term Taylor Series Approximation of cos x point x = 1. The rst few derivatives of f are f (x) = ln x 1 f (x) = x 1 f (x) = 2 x 2 f (x) = 3 x 3 f (4) (x) = 4 x 73

The derivatives evaluated at x = 1 are f (0) = 0, By Taylors theorem of the mean we have, ln x = (x 1) (x 1)n (x 1)n+1 1 (x 1)2 (x 1)3 (x 1)4 + + + (1)n1 + (1)n . 2 3 4 n n + 1 n+1 f (n) (0) = (1)n1 (n 1)!, for n 1.

2 1 -1 0.5 1 1.5 2 2.5 3 -2 -3 -4 -5 -6 2 1 -1 0.5 1 1.5 2 2.5 3 -2 -3 -4 -5 -6 2 1 -1 0.5 1 1.5 2 2.5 3 -2 -3 -4 -5 -6 2 1 -1 0.5 1 1.5 2 2.5 3 -2 -3 -4 -5 -6

Figure 3.15: The 2, 4, 10 and 50 Term Approximations of ln x Note that the approximation gets better on the interval (0, 2) and worse outside this interval as the number of terms increases. The Taylor series converges to ln x only on this interval.

3.6.2

Example 3.6.4 Suppose you sample a function at the discrete points nx, n Z. In Figure 3.16 we sample the function f (x) = sin x on the interval [4, 4] with x = 1/4 and plot the data points. We wish to approximate the derivative of the function on the grid points using only the value of the function on those discrete points. From the denition of the derivative, one is lead to the formula f (x) f (x + x) f (x) . x 74 (3.2)

0.5

-4

-2

-0.5

-1

Figure 3.16: Sampling of sin x Taylors theorem states that f (x + x) = f (x) + xf (x) + x2 f (). 2

Substituting this expression into our formula for approximating the derivative we obtain f (x) + xf (x) + x f () f (x) f (x + x) f (x) x 2 = = f (x) + f (). x x 2 Thus we see that the error in our approximation of the rst derivative is x f (). Since the error has a linear factor 2 of x, we call this a rst order accurate method. Equation 3.2 is called the forward dierence scheme for calculating the rst derivative. Figure 3.17 shows a plot of the value of this scheme for the function f (x) = sin x and x = 1/4. The rst derivative of the function f (x) = cos x is shown for comparison. Another scheme for approximating the rst derivative is the centered dierence scheme, f (x) f (x + x) f (x x) . 2x 75

2

0.5

-4

-2

-0.5

-1

Figure 3.17: The Forward Dierence Scheme Approximation of the Derivative Expanding the numerator using Taylors theorem, f (x + x) f (x x) 2x f (x) + xf (x) + = = f (x) +

x2 f 2

(x) +

x3 f 6

() f (x) + xf (x) 2x

x2 f 2

(x) +

x3 f 6

()

x2 (f () + f ()). 12

The error in the approximation is quadratic in x. Therefore this is a second order accurate scheme. Below is a plot of the derivative of the function and the value of this scheme for the function f (x) = sin x and x = 1/4. Notice how the centered dierence scheme gives a better approximation of the derivative than the forward dierence scheme.

3.7

LHospitals Rule

Some singularities are easy to diagnose. Consider the function cos x at the point x = 0. The function evaluates x 1 to 0 and is thus discontinuous at that point. Since the numerator and denominator are continuous functions and the 76

0.5

-4

-2

-0.5

-1

Figure 3.18: Centered Dierence Scheme Approximation of the Derivative denominator vanishes while the numerator does not, the left and right limits as x 0 do not exist. Thus the function has an innite discontinuity at the point x = 0. More generally, a function which is composed of continuous functions and evaluates to a at a point where a = 0 must have an innite discontinuity there. 0

sin x Other singularities require more analysis to diagnose. Consider the functions sin x , sin x and 1cos x at the point x = 0. x |x| All three functions evaluate to 0 at that point, but have dierent kinds of singularities. The rst has a removable 0 discontinuity, the second has a nite discontinuity and the third has an innite discontinuity. See Figure 3.19.

and

sin x . 1cos x

77

An expression that evaluates to 0 , , 0 , , 1 , 00 or 0 is called an indeterminate. A function f (x) which 0 is indeterminate at the point x = is singular at that point. The singularity may be a removable discontinuity, a nite discontinuity or an innite discontinuity depending on the behavior of the function around that point. If limx f (x) exists, then the function has a removable discontinuity. If the limit does not exist, but the left and right limits do exist, then the function has a nite discontinuity. If either the left or right limit does not exist then the function has an innite discontinuity.

LHospitals Rule. Let f (x) and g(x) be dierentiable and f () = g() = 0. Further, let g(x) be nonzero in a deleted neighborhood of x = , (g(x) = 0 for x 0 < |x | < ). Then f (x) f (x) = lim . x g(x) x g (x) lim To prove this, we note that f () = g() = 0 and apply the generalized theorem of the mean. Note that f (x) f (x) f () f () = = g(x) g(x) g() g () for some between and x. Thus f (x) f () f (x) = lim = lim x g(x) g () x g (x) lim provided that the limits exist. LHospitals Rule is also applicable when both functions tend to innity instead of zero or when the limit point, , is at innity. It is also valid for one-sided limits. 0 LHospitals rule is directly applicable to the indeterminate forms 0 and . Example 3.7.1 Consider the three functions

sin x sin x , |x| x

and

sin x 1cos x

at the point x = 0.

Thus

sin x x

x0

x0

lim

Thus

sin x |x|

Thus

sin x 1cos x

Example 3.7.2 Let a and d be nonzero. ax2 + bx + c 2ax + b = lim 2 + ex + f x dx x 2dx + e 2a = lim x 2d a = d lim Example 3.7.3 Consider

cos x 1 . x0 x sin x 0 This limit is an indeterminate of the form 0 . Applying LHospitals rule we see that limit is equal to lim sin x . x0 x cos x + sin x lim 79

This limit is again an indeterminate of the form 0 . We apply LHospitals rule again. 0 cos x 1 = x sin x + 2 cos x 2 1 Thus the value of the original limit is 2 . We could also obtain this result by expanding the functions in Taylor series.

x0

lim

x4 24 lim 2 x4 + x6 x0 x 6 120 1 x2 2 + 24 lim 2 4 x0 1 x + x 6 120

x + 2

1 2 We can apply LHospitals Rule to the indeterminate forms 0 and by rewriting the expression in a dierent form, (perhaps putting the expression over a common denominator). If at rst you dont succeed, try, try again. You may have to apply LHospitals rule several times to evaluate a limit. = Example 3.7.4

x0

lim cot x

1 x

x cos x sin x x sin x cos x x sin x cos x = lim x0 sin x + x cos x x sin x = lim x0 sin x + x cos x x cos x sin x = lim x0 cos x + cos x x sin x =0 = lim

x0

80

You can apply LHospitals rule to the indeterminate forms 1 , 00 or 0 by taking the logarithm of the expression. Example 3.7.5 Consider the limit,

x0

lim xx ,

which gives us the indeterminate form 00 . The logarithm of the expression is ln(xx ) = x ln x. As x 0 we now have the indeterminate form 0 . By rewriting the expression, we can apply LHospitals rule. ln x 1/x = lim x0 1/x x0 1/x2 = lim (x) lim

x0

x0

lim xx = e0 = 1.

81

3.8

3.8.1

Exercises

Limits of Functions

1 x

x0

lim sin

x0

lim x sin

1 x

3.8.2

Continuous Functions

Exercise 3.3 Is the function sin(1/x) continuous in the open interval (0, 1)? Is there a value of a such that the function dened by f (x) = is continuous on the closed interval [0, 1]? Hint, Solution Exercise 3.4 Is the function sin(1/x) uniformly continuous in the open interval (0, 1)? Hint, Solution 82 sin(1/x) for x = 0, a for x = 0

1 x

Exercise 3.6 Prove that a function which is continuous on a closed interval is uniformly continuous on that interval. Hint, Solution Exercise 3.7 Prove or disprove each of the following. 1. If limn an = L then limn a2 = L2 . n 2. If limn a2 = L2 then limn an = L. n 3. If an > 0 for all n > 200, and limn an = L, then L > 0. 4. If f : R R is continuous and limx f (x) = L, then for n Z, limn f (n) = L. 5. If f : R R is continuous and limn f (n) = L, then for x R, limx f (x) = L. Hint, Solution

3.8.3

The Derivative

Exercise 3.8 (mathematica/calculus/dierential/denition.nb) Use the denition of dierentiation to prove the following identities where f (x) and g(x) are dierentiable functions and n is a positive integer. 1. 2. 3.

d (xn ) dx

= nxn1 ,

d (f (x)g(x)) dx d (sin x) dx

dg = f dx + g df dx

4.

d (f (g(x))) dx

= f (g(x))g (x)

Hint, Solution Exercise 3.9 Use the denition of dierentiation to determine if the following functions dierentiable at x = 0. 1. f (x) = x|x| 2. f (x) = Hint, Solution Exercise 3.10 (mathematica/calculus/dierential/rules.nb) Find the rst derivatives of the following: a. x sin(cos x) b. f (cos(g(x))) c.

1 f (ln x)

x

1 + |x|

d. xx

e. |x| sin |x| Hint, Solution Exercise 3.11 (mathematica/calculus/dierential/rules.nb) Using d d 1 sin x = cos x and tan x = dx dx cos2 x nd the derivatives of arcsin x and arctan x. Hint, Solution 84

3.8.4

Implicit Dierentiation

Exercise 3.12 (mathematica/calculus/dierential/implicit.nb) Find y (x), given that x2 + y 2 = 1. What is y (1/2)? Hint, Solution Exercise 3.13 (mathematica/calculus/dierential/implicit.nb) Find y (x) and y (x), given that x2 xy + y 2 = 3. Hint, Solution

3.8.5

Exercise 3.14 (mathematica/calculus/dierential/maxima.nb) Identify any maxima and minima of the following functions. a. f (x) = x(12 2x)2 . b. f (x) = (x 2)2/3 . Hint, Solution Exercise 3.15 (mathematica/calculus/dierential/maxima.nb) A cylindrical container with a circular base and an open top is to hold 64 cm3 . Find its dimensions so that the surface area of the cup is a minimum. Hint, Solution

3.8.6

Exercise 3.16 Prove the generalized theorem of the mean. If f (x) and g(x) are continuous in [a, b] and dierentiable in (a, b), then there exists a point x = such that f () f (b) f (a) = . g () g(b) g(a) 85

Assume that g(a) = g(b) so that the denominator does not vanish and that f (x) and g (x) are not simultaneously zero which would produce an indeterminate form. Hint, Solution Exercise 3.17 (mathematica/calculus/dierential/taylor.nb) Find a polynomial approximation of sin x on the interval [1, 1] that has a maximum error of terms that you need to. Prove the error bound. Use your polynomial to approximate sin 1. Hint, Solution

1 . 1000

Exercise 3.18 (mathematica/calculus/dierential/taylor.nb) You use the formula f (x+x)2f (x)+f (xx) to approximate f (x). What is the error in this approximation? x2 Hint, Solution Exercise 3.19 The formulas f (x+x)f (x) and f (x+x)f (xx) are rst and second order accurate schemes for approximating the rst x 2x derivative f (x). Find a couple other schemes that have successively higher orders of accuracy. Would these higher order schemes actually give a better approximation of f (x)? Remember that x is small, but not innitesimal. Hint, Solution

3.8.7

LHospitals Rule

xsin x x3 1 x

1 x x

1 d. limx0 csc2 x x2 . (First evaluate using LHospitals rule then using a Taylor series expansion. You will nd that the latter method is more convenient.)

86

Hint, Solution Exercise 3.21 (mathematica/calculus/dierential/lhospitals.nb) Evaluate the following limits, a lim 1 + lim xa/x , x x x where a and b are constants. Hint, Solution

bx

87

3.9

Hints

Hint 3.1 Apply the , denition of a limit. Hint 3.2 Set y = 1/x. Consider limy . Hint 3.3 The composition of continuous functions is continuous. Apply the denition of continuity and look at the point x = 0. Hint 3.4 Note that for x1 =

1 (n1/2)

and x2 =

1 (n+1/2)

Hint 3.5 Note that the function x + x is a decreasing function of x and an increasing function of for positive x and . Bound this function for xed . Consider any positive and . For what values of x is 1 1 > . x x+ Hint 3.6 Let the function f (x) be continuous on a closed interval. Consider the function e(x, ) = sup |f () f (x)|.

|x|<

Bound e(x, ) with a function of alone. Hint 3.7 CONTINUE 1. If limn an = L then limn a2 = L2 . n 88

2. If limn a2 = L2 then limn an = L. n 3. If an > 0 for all n > 200, and limn an = L, then L > 0. 4. If f : R R is continuous and limx f (x) = L, then for n Z, limn f (n) = L. 5. If f : R R is continuous and limn f (n) = L, then for x R, limx f (x) = L. Hint 3.8 a. Newtons binomial formula is

n

(a + b) =

k=0

b. Note that

and g(x)f (x) + f (x)g (x) = g(x) lim Fill in the blank. c. First prove that

x0

lim

sin = 1.

and

0

lim

cos 1 = 0. 89

d. Let u = g(x). Consider a nonzero increment x, which induces the increments u and f . By denition, f = f (u + u) f (u), and f, u 0 as x 0. If u = 0 then we have = f df 0 as u 0. u du u = g(x + x) g(x),

If u = 0 for some values of x then f also vanishes and we dene = 0 for theses values. In either case, y = Continue from here. Hint 3.9 df u + u. du

Hint 3.10 a. Use the product rule and the chain rule. b. Use the chain rule. c. Use the quotient rule and the chain rule. d. Use the identity ab = eb ln a . e. For x > 0, the expression is x sin x; for x < 0, the expression is (x) sin(x) = x sin x. Do both cases. Hint 3.11 Use that x (y) = 1/y (x) and the identities cos x = (1 sin2 x)1/2 and cos(arctan x) =

1 . (1+x2 )1/2

90

Hint 3.12 Dierentiating the equation x2 + [y(x)]2 = 1 yields 2x + 2y(x)y (x) = 0. Solve this equation for y (x) and write y(x) in terms of x. Hint 3.13 Dierentiate the equation and solve for y (x) in terms of x and y(x). Dierentiate the expression for y (x) to obtain y (x). Youll use that x2 xy(x) + [y(x)]2 = 3 Hint 3.14 a. Use the second derivative test. b. The function is not dierentiable at the point x = 2 so you cant use a derivative test at that point. Hint 3.15 Let r be the radius and h the height of the cylinder. The volume of the cup is r2 h = 64. The radius and height are 64 related by h = r2 . The surface area of the cup is f (r) = r2 + 2rh = r2 + 128 . Use the second derivative test to r nd the minimum of f (r). Hint 3.16 The proof is analogous to the proof of the theorem of the mean. Hint 3.17 The rst few terms in the Taylor series of sin(x) about x = 0 are sin(x) = x x3 x5 x7 x9 + + + . 6 120 5040 362880

When determining the error, use the fact that | cos x0 | 1 and |xn | 1 for x [1, 1]. 91

Hint 3.18 The terms in the approximation have the Taylor series, x2 x3 x4 f (x) + f (x) + f (x1 ), 2 6 24 x2 x3 x4 f (x x) = f (x) xf (x) + f (x) f (x) + f (x2 ), 2 6 24 f (x + x) = f (x) + xf (x) + where x x1 x + x and x x x2 x. Hint 3.19 Hint 3.20 a. Apply LHospitals rule three times. b. You can write the expression as x sin x . x sin x

c. Find the limit of the logarithm of the expression. d. It takes four successive applications of LHospitals rule to evaluate the limit. For the Taylor series expansion method, csc2 x x2 sin2 x 1 x2 (x x3 /6 + O(x5 ))2 = 2 2 = x2 x2 (x + O(x3 ))2 x sin x

Hint 3.21 To evaluate the limits use the identity ab = eb ln a and then apply LHospitals rule.

92

3.10

Solutions

Solution 3.1 Note that in any open neighborhood of zero, (, ), the function sin(1/x) takes on all values in the interval [1, 1]. Thus if we choose a positive such that < 1 then there is no value of for which | sin(1/x) | < for all x ( , ). Thus the limit does not exist. Solution 3.2 We make the change of variables y = 1/x and consider y . We use that sin(y) is bounded. lim x sin 1 x = lim 1 sin(y) = 0 y

x0

Solution 3.3 1 Since x is continuous in the interval (0, 1) and the function sin(x) is continuous everywhere, the composition sin(1/x) is continuous in the interval (0, 1). Since limx0 sin(1/x) does not exist, there is no way of dening sin(1/x) at x = 0 to produce a function that is continuous in [0, 1]. Solution 3.4 1 1 Note that for x1 = (n1/2) and x2 = (n+1/2) where n Z we have | sin(1/x1 ) sin(1/x2 )| = 2. Thus for any 0 < < 2 there is no value of > 0 such that | sin(1/x1 ) sin(1/x2 )| < for all x1 , x2 (0, 1) and |x1 x2 | < . Thus sin(1/x) is not uniformly continuous in the open interval (0, 1). Solution 3.5 First consider the function x. Note that the function x + x is a decreasing function of x and an increasing function of for positive x and . Thus for any xed , the maximum value of x + x is bounded by . Therefore on the interval (0, 1), a sucient condition for | x | < is |x | < 2 . The function x is uniformly continuous on the interval (0, 1). Consider any positive and . Note that 1 1 > x x+ 93

1 1 < x

1 x

Solution 3.6 Let the function f (x) be continuous on a closed interval. Consider the function e(x, ) = sup |f () f (x)|.

|x|<

Since f (x) is continuous, e(x, ) is a continuous function of x on the same closed interval. Since continuous functions on closed intervals are bounded, there is a continuous, increasing function () satisfying, e(x, ) (), for all x in the closed interval. Since () is continuous and increasing, it has an inverse ( ). Now note that |f (x) f ()| < for all x and in the closed interval satisfying |x | < ( ). Thus the function is uniformly continuous in the closed interval. Solution 3.7 1. The statement

n

lim an = L

is equivalent to > 0, N s.t. n > N |an L| < . We want to show that > 0, M s.t. m > M |a2 L2 | < . n 94

Suppose that |an L| < . We obtain an upper bound on |a2 L2 |. n |a2 L2 | = |an L||an + L| < (|2L| + ) n Now we choose a value of such that |a2 L2 | < n (|2L| + ) = = L2 + |L| Consider any xed > 0. We see that since for = L2 + |L|, N s.t. n > N |an L| < implies that n > N |a2 L2 | < . n Therefore > 0, M s.t. m > M |a2 L2 | < . n We conclude that limn a2 = L2 . n 2. limn a2 = L2 does not imply that limn an = L. Consider an = 1. In this case limn a2 = 1 and n n limn an = 1. 3. If an > 0 for all n > 200, and limn an = L, then L is not necessarily positive. Consider an = 1/n, which satises the two constraints. 1 lim = 0 n n 4. The statement limx f (x) = L is equivalent to > 0, X s.t. x > X |f (x) L| < . This implies that for n > X , |f (n) L| < . > 0, N s.t. n > N |f (n) L| < lim f (n) = L

n

95

5. If f : R R is continuous and limn f (n) = L, then for x R, it is not necessarily true that limx f (x) = L. Consider f (x) = sin(x). lim sin(n) = lim 0 = 0

n n

limx sin(x) does not exist. Solution 3.8 a. d n (x + x)n xn (x ) = lim x0 dx x xn + nxn1 x + = lim

x0

n(n1) n2 x x2 2

+ + xn xn

= lim

x0

nxn1 +

n(n 1) n2 x x + + xn1 2

= nxn1 d n (x ) = nxn1 dx b. d f (x + x)g(x + x) f (x)g(x) (f (x)g(x)) = lim x0 dx x [f (x + x)g(x + x) f (x)g(x + x)] + [f (x)g(x + x) f (x)g(x)] = lim x0 x f (x + x) f (x) g(x + x) g(x) + f (x) lim = lim [g(x + x)] lim x0 x0 x0 x x = g(x)f (x) + f (x)g (x) 96

d (f (x)g(x)) = f (x)g (x) + f (x)g(x) dx c. Consider a right triangle with hypotenuse of length 1 in the rst quadrant of the plane. Label the vertices A, B, C, in clockwise order, starting with the vertex at the origin. The angle of A is . The length of a circular arc of radius cos that connects C to the hypotenuse is cos . The length of the side BC is sin . The length of a circular arc of radius 1 that connects B to the x axis is . (See Figure 3.20.)

B

cos sin

Figure 3.20: Considering the length of these three curves gives us the inequality: cos sin . Dividing by , cos 97 sin 1.

Taking the limit as 0 gives us sin = 1. 0 lim One more little tidbit well need to know is

0

lim

cos 1 cos 1 cos + 1 = lim 0 cos + 1 2 cos 1 = lim 0 (cos + 1) sin2 = lim 0 (cos + 1) sin sin = lim lim 0 (cos + 1) 0 0 = (1) 2 = 0.

Now were ready to nd the derivative of sin x. d sin(x + x) sin x (sin x) = lim x0 dx x cos x sin x + sin x cos x sin x = lim x0 x sin x cos x 1 = cos x lim + sin x lim x0 x0 x x = cos x d (sin x) = cos x dx 98

d. Let u = g(x). Consider a nonzero increment x, which induces the increments u and f . By denition, f = f (u + u) f (u), and f, u 0 as x 0. If u = 0 then we have = f df 0 as u 0. u du u = g(x + x) g(x),

If u = 0 for some values of x then f also vanishes and we dene = 0 for theses values. In either case, y = df u + u. du

We divide this equation by x and take the limit as x 0. df f = lim dx x0 x df u u = lim + x0 du x x df f lim + = x0 x du du df du + (0) = du dx dx df du = du dx Thus we see that d (f (g(x))) = f (g(x))g (x). dx

x0

lim

u x0 x lim

99

1

= lim 0 2

1 = lim 0 sign( ) 2 Since the limit does not exist, the function is not dierentiable at x = 0. Solution 3.10 a. d d d [x sin(cos x)] = [x] sin(cos x) + x [sin(cos x)] dx dx dx d = sin(cos x) + x cos(cos x) [cos x] dx = sin(cos x) x cos(cos x) sin x d [x sin(cos x)] = sin(cos x) x cos(cos x) sin x dx 100

d [f (ln x)] 1 d = dx dx f (ln x) [f (ln x)]2 d f (ln x) dx [ln x] = [f (ln x)]2 f (ln x) = x[f (ln x)]2

d 1 f (ln x) = dx f (ln x) x[f (ln x)]2 d. First we write the expression in terms exponentials and logarithms, xx = xexp(x ln x) = exp(exp(x ln x) ln x). 101

x

Then we dierentiate using the chain rule and the product rule. d d exp(exp(x ln x) ln x) = exp(exp(x ln x) ln x) (exp(x ln x) ln x) dx dx 1 d x = xx exp(x ln x) (x ln x) ln x + exp(x ln x) dx x 1 x = xx xx (ln x + x ) ln x + x1 exp(x ln x) x xx x = x x (ln x + 1) ln x + x1 xx = xx

x +x

x1 + ln x + ln2 x

d xx x x = xx +x x1 + ln x + ln2 x dx

e. For x > 0, the expression is x sin x; for x < 0, the expression is (x) sin(x) = x sin x. Thus we see that |x| sin |x| = x sin x. The rst derivative of this is sin x + x cos x. d (|x| sin |x|) = sin x + x cos x dx

102

Solution 3.11 Let y(x) = sin x. Then y (x) = cos x. d 1 arcsin y = dy y (x) 1 = cos x 1 (1 sin2 x)1/2 1 = (1 y 2 )1/2 = d 1 arcsin x = dx (1 x2 )1/2 Let y(x) = tan x. Then y (x) = 1/ cos2 x. d 1 arctan y = dy y (x) = cos2 x = cos2 (arctan y) 1 = (1 + y 2 )1/2 1 = 1 + y2 d 1 arctan x = dx 1 + x2

103

Solution 3.12 Dierentiating the equation x2 + [y(x)]2 = 1 yields 2x + 2y(x)y (x) = 0. We can solve this equation for y (x). y (x) = To nd y (1/2) we need to nd y(x) in terms of x. y(x) = 1 x2 Thus y (x) is y (x) = y (1/2) can have the two values: y Solution 3.13 Dierentiating the equation x2 xy(x) + [y(x)]2 = 3 yields 2x y(x) xy (x) + 2y(x)y (x) = 0. Solving this equation for y (x) y (x) = y(x) 2x . 2y(x) x 104 1 2 1 = . 3 x . 1 x2 x y(x)

Now we dierentiate y (x) to get y (x). y (x) = (y (x) 2)(2y(x) x) (y(x) 2x)(2y (x) 1) , (2y(x) x)2 y (x) = 3 xy (x) y(x) , (2y(x) x)2 ,

y (x) = 3 y (x) = 3

x(y(x) 2x) y(x)(2y(x) x) , (2y(x) x)3 x2 xy(x) + [y(x)]2 , (2y(x) x)3 18 , (2y(x) x)3

y (x) = 6

f (x) = (12 2x)2 + 2x(12 2x)(2) = 4(x 6)2 + 8x(x 6) = 12(x 2)(x 6) There are critical points at x = 2 and x = 6. f (x) = 12(x 2) + 12(x 6) = 24(x 4) Since f (2) = 48 < 0, x = 2 is a local maximum. Since f (6) = 48 > 0, x = 6 is a local minimum. 105

b.

2 f (x) = (x 2)1/3 3 The rst derivative exists and is nonzero for x = 2. At x = 2, the derivative does not exist and thus x = 2 is a critical point. For x < 2, f (x) < 0 and for x > 2, f (x) > 0. x = 2 is a local minimum.

Solution 3.15 Let r be the radius and h the height of the cylinder. The volume of the cup is r2 h = 64. The radius and height are 64 related by h = r2 . The surface area of the cup is f (r) = r2 + 2rh = r2 + 128 . The rst derivative of the surface r area is f (r) = 2r 128 . Finding the zeros of f (r), 2 r 2r 128 = 0, r2

2r3 128 = 0, 4 r= . 3

4 The second derivative of the surface area is f (r) = 2 + 256 . Since f ( ) = 6, r = 3 r3 f (r). Since this is the only critical point for r > 0, it must be a global minimum. 4 4 The cup has a radius of cm and a height of . 3 3 4 3

is a local minimum of

Solution 3.16 We dene the function h(x) = f (x) f (a) f (b) f (a) (g(x) g(a)). g(b) g(a)

Note that h(x) is dierentiable and that h(a) = h(b) = 0. Thus h(x) satises the conditions of Rolles theorem and there exists a point (a, b) such that h () = f () f (b) f (a) g () = 0, g(b) g(a) 106

f () f (b) f (a) = . g () g(b) g(a) Solution 3.17 The rst few terms in the Taylor series of sin(x) about x = 0 are sin(x) = x x3 x5 x7 x9 + + + . 6 120 5040 362880 x5 cos x0 7 x3 + x, 6 120 5040

where 0 x0 x. Since we are considering x [1, 1] and 1 cos(x0 ) 1, the approximation sin x x has a maximum error of

1 5040

x3 x5 + 6 120

0.000198. Using this polynomial to approximate sin(1), 1 13 15 + 0.841667. 6 120 sin(1) 0.841471.

To see that this has the required accuracy, Solution 3.18 Expanding the terms in the approximation in Taylor series, x2 x3 x4 f (x + x) = f (x) + xf (x) + f (x) + f (x) + f (x1 ), 2 6 24 x2 x3 x4 f (x x) = f (x) xf (x) + f (x) f (x) + f (x2 ), 2 6 24 107

where x x1 x + x and x x x2 x. Substituting the expansions into the formula, f (x + x) 2f (x) + f (x x) x2 = f (x) + [f (x1 ) + f (x2 )]. x2 24 Thus the error in the approximation is x2 [f (x1 ) + f (x2 )]. 24 Solution 3.19

Solution 3.20 a. x sin x 1 cos x = lim x0 x3 3x2 sin x = lim x0 6x cos x = lim x0 6 1 = 6

x0

lim

x0

lim

x sin x 1 = x3 6

108

b.

x0

lim csc x

1 x

= lim = lim

x0

x0

= lim = lim 0 2 =0 =

x0

x0

1 1 sin x x x sin x x sin x 1 cos x x cos x + sin x sin x x sin x + cos x + cos x

x0

lim csc x

1 x

=0

109

c.

ln

x+

lim

1 1+ x

x+

x+

1 ln 1+ x 1 x ln 1 + x ln 1 + 1/x 1+

1 x

x+

1 1 x

1 x2

x+

1/x2 1+ 1 x

1

x+

Thus we have

x+

lim

1+

1 x

= e.

110

d. It takes four successive applications of LHospitals rule to evaluate the limit. lim csc2 x 1 x2 x2 sin2 x x0 x2 sin2 x 2x 2 cos x sin x = lim 2 x0 2x cos x sin x + 2x sin2 x 2 2 cos2 x + 2 sin2 x = lim 2 x0 2x cos2 x + 8x cos x sin x + 2 sin2 x 2x2 sin2 x 8 cos x sin x = lim x0 12x cos2 x + 12 cos x sin x 8x2 cos x sin x 12x sin2 x 8 cos2 x 8 sin2 x = lim x0 24 cos2 x 8x2 cos2 x 64x cos x sin x 24 sin2 x + 8x2 sin2 x 1 = 3 = lim

x0

It is easier to use a Taylor series expansion. lim csc2 x 1 x2 x2 sin2 x x0 x2 sin2 x x2 (x x3 /6 + O(x5 ))2 = lim x0 x2 (x + O(x3 ))2 x2 (x2 x4 /3 + O(x6 )) = lim x0 x4 + O(x6 ) 1 = lim + O(x2 ) x0 3 1 = 3 = lim

x0

111

Solution 3.21 To evaluate the rst limit, we use the identity ab = eb ln a and then apply LHospitals rule.

x

x

a ln x x

x

lim 1 +

a x

bx

a x x a = exp lim bx ln 1 + x x ln(1 + a/x) = exp lim b x 1/x 2 = lim exp bx ln 1 + = exp lim b

x a/x 1+a/x 1/x2

= exp a x

x bx

lim b

a 1 + a/x

lim 1 +

= eab

112

3.11

Quiz

Problem 3.1 Dene continuity. Solution Problem 3.2 Fill in the blank with necessary, sucient or necessary and sucient. Continuity is a condition for dierentiability. Dierentiability is a condition for continuity. f (x+x)f (x) Existence of limx0 is a condition for dierentiability. x Solution Problem 3.3 d Evaluate dx f (g(x)h(x)). Solution Problem 3.4 d Evaluate dx f (x)g(x) . Solution Problem 3.5 State the Theorem of the Mean. Interpret the theorem physically. Solution Problem 3.6 State Taylors Theorem of the Mean. Solution Problem 3.7 Evaluate limx0 (sin x)sin x . Solution

113

3.12

Quiz Solutions

Solution 3.1 A function y(x) is said to be continuous at x = if limx y(x) = y(). Solution 3.2 Continuity is a necessary condition for dierentiability. Dierentiability is a sucient condition for continuity. Existence of limx0 f (x+x)f (x) is a necessary and sucient condition for dierentiability. x Solution 3.3 d d f (g(x)h(x)) = f (g(x)h(x)) (g(x)h(x)) = f (g(x)h(x))(g (x)h(x) + g(x)h (x)) dx dx Solution 3.4 d d g(x) ln f (x) f (x)g(x) = e dx dx d = eg(x) ln f (x) (g(x) ln f (x)) dx = f (x)g(x) g (x) ln f (x) + g(x) f (x) f (x)

Solution 3.5 If f (x) is continuous in [a..b] and dierentiable in (a..b) then there exists a point x = such that f () = f (b) f (a) . ba

That is, there is a point where the instantaneous velocity is equal to the average velocity on the interval. 114

Solution 3.6 If f (x) is n + 1 times continuously dierentiable in (a..b) then there exists a point x = (a..b) such that f (b) = f (a) + (b a)f (a) + (b a)2 (b a)n (n) (b a)n+1 (n+1) f (a) + + f (a) + f (). 2! n! (n + 1)!

Solution 3.7 Consider limx0 (sin x)sin x . This is an indeterminate of the form 00 . The limit of the logarithm of the expression is limx0 sin x ln(sin x). This is an indeterminate of the form 0 . We can rearrange the expression to obtain an indeterminate of the form and then apply LHospitals rule. ln(sin x) cos x/ sin x = lim = lim ( sin x) = 0 x0 1/ sin x x0 cos x/ sin2 x x0 lim The original limit is

x0

115

4.1 The Indenite Integral

The opposite of a derivative is the anti-derivative or the indenite integral. The indenite integral of a function f (x) is denoted, f (x) dx. It is dened by the property that d dx f (x) dx = f (x).

While a function f (x) has a unique derivative if it is dierentiable, it has an innite number of indenite integrals, each of which dier by an additive constant. Zero Slope Implies a Constant Function. If the value of a functions derivative is identically zero, df = 0, dx then the function is a constant, f (x) = c. To prove this, we assume that there exists a non-constant dierentiable function whose derivative is zero and obtain a contradiction. Let f (x) be such a function. Since f (x) is non-constant, there exist points a and b such that f (a) = f (b). By the Mean Value Theorem of dierential calculus, there exists a 116

point (a, b) such that f (b) f (a) = 0, ba which contradicts that the derivative is everywhere zero. f () = Indenite Integrals Dier by an Additive Constant. Suppose that F (x) and G(x) are indenite integrals of f (x). Then we have d (F (x) G(x)) = F (x) G (x) = f (x) f (x) = 0. dx Thus we see that F (x) G(x) = c and the two indenite integrals must dier by a constant. For example, we have sin x dx = cos x + c. While every function that can be expressed in terms of elementary functions, (the exponent, logarithm, trigonometric functions, etc.), has a derivative that can be written explicitly in terms of elementary functions, the same is not true of integrals. For example, sin(sin x) dx cannot be written explicitly in terms of elementary functions. Properties. Since the derivative is linear, so is the indenite integral. That is, (af (x) + bg(x)) dx = a f (x) dx + b g(x) dx.

d (f (x))a dx

For each derivative identity there is a corresponding integral identity. Consider the power law identity, a(f (x))a1 f (x). The corresponding integral identity is (f (x))a f (x) dx = (f (x))a+1 + c, a+1 a = 1,

d dx

where we require that a = 1 to avoid division by zero. From the derivative of a logarithm, obtain, f (x) dx = ln |f (x)| + c. f (x) 117

ln(f (x)) =

f (x) , f (x)

we

Figure 4.1: Plot of ln |x| and 1/x. Note the absolute value signs. This is because this. Example 4.1.1 Consider I= (x2 x dx. + 1)2

d dx

ln |x| =

1 x

1 x

to reinforce

By choosing f (x) = cos x, f (x) = sin x, we see that the integral is I= sin x dx = ln | cos x| + c. cos x

Change of Variable. The dierential of a function g(x) is dg = g (x) dx. Thus one might suspect that for = g(x), f () d = f (g(x))g (x) dx, (4.1)

since d = dg = g (x) dx. This turns out to be true. To prove it we will appeal to the the chain rule for dierentiation. Let be a function of x. The chain rule is d f () = f () (x), dx d df d f () = . dx d dx We can also write this as df dx df = , d d dx or in operator notation, d dx d = . d d dx Now were ready to start. The derivative of the left side of Equation 4.1 is d d f () d = f ().

119

Next we dierentiate the right side, d d f (g(x))g (x) dx = dx d f (g(x))g (x) dx d dx dx = f (g(x))g (x) d dx dg = f (g(x)) dg dx = f (g(x)) = f ()

to see that it is in fact an identity for = g(x). Example 4.1.3 Consider x sin(x2 ) dx. We choose = x2 , d = 2xdx to evaluate the integral. x sin(x2 ) dx = 1 sin(x2 )2x dx 2 1 = sin d 2 1 = ( cos ) + c 2 1 = cos(x2 ) + c 2

120

Integration by Parts. The product rule for dierentiation gives us an identity called integration by parts. We start with the product rule and then integrate both sides of the equation. d (u(x)v(x)) = u (x)v(x) + u(x)v (x) dx (u (x)v(x) + u(x)v (x)) dx = u(x)v(x) + c u (x)v(x) dx + u(x)v (x)) dx = u(x)v(x) v(x)u (x) dx

u(x)v (x)) dx = u(x)v(x) The theorem is most often written in the form u dv = uv

v du.

So what is the usefulness of this? Well, it may happen for some integrals and a good choice of u and v that the integral on the right is easier to evaluate than the integral on the left. Example 4.1.4 Consider x ex dx. If we choose u = x, dv = ex dx then integration by parts yields x ex dx = x ex ex dx = (x 1) ex .

Now notice what happens when we choose u = ex , dv = x dx. 1 x ex dx = x2 ex 2 The integral gets harder instead of easier. When applying integration by parts, one must choose u and dv wisely. As general rules of thumb: 121 1 2 x x e dx 2

Pick u so that u is simpler than u. Pick dv so that v is not more complicated, (hopefully simpler), than dv. Also note that you may have to apply integration by parts several times to evaluate some integrals.

4.2

4.2.1

Denition

The area bounded by the x axis, the vertical lines x = a and x = b and the function f (x) is denoted with a denite integral,

b

f (x) dx.

a

The area is signed, that is, if f (x) is negative, then the area is negative. We measure the area with a divide-and-conquer strategy. First partition the interval (a, b) with a = x0 < x1 < < xn1 < xn = b. Note that the area under the curve on the subinterval is approximately the area of a rectangle of base xi = xi+1 xi and height f (i ), where i [xi , xi+1 ]. If we add up the areas of the rectangles, we get an approximation of the area under the curve. See Figure 4.2

b n1

f (x) dx

a i=0

f (i )xi

As the xi s get smaller, we expect the approximation of the area to get better. Let x = max0in1 xi . We dene the denite integral as the sum of the areas of the rectangles in the limit that x 0.

b n1

f (x) dx = lim

a

x0

f (i )xi

i=0

The integral is dened when the limit exists. This is known as the Riemann integral of f (x). f (x) is called the integrand. 122

f(1 )

a x1 x2 x3

xi

x n-2 x n-1 b

4.2.2

Properties

n1 n1 n1

(cfi + dgi ) = c

i=0 i=0

fi + d

i=0

gi ,

b b b

a a

f (x) dx + d

a

g(x) dx.

b c b

f (x) dx =

a a

f (x) dx +

c

f (x) dx

123

We assume that each of the above integrals exist. If a b, and we integrate from b to a, then each of the xi will be negative. From this observation, it is clear that

b a

f (x) dx =

a b

f (x) dx.

If we integrate any function from a point a to that same point a, then all the xi are zero and

a

f (x) dx = 0.

a

n1 n1

fi

i=0 i=0

gi .

n1 n1 n1

(b a)m =

i=0

mxi

i=0

f (i )xi

i=0

M xi = (b a)M

implies that

b

(b a)m

a

f (x) dx (b a)M.

n1

Since

n1

fi

i=0 i=0 b

|fi |,

we have

a

f (x) dx

a

|f (x)| dx.

124

Mean Value Theorem of Integral Calculus. Let f (x) be continuous. We know from above that

b

(b a)m

a

f (x) dx (b a)M.

b

f (x) dx = (b a)c.

a

Since f (x) is continuous, there is a point [a, b] such that f () = c. Thus we see that

b

a

4.3

Denite Integrals with Variable Limits of Integration. Consider a to be a constant and x variable, then the function F (x) dened by

x

F (x) =

a

f (t) dt

(4.2)

125

is an anti-derivative of f (x), that is F (x) = f (x). To show this we apply the denition of dierentiation and the integral mean value theorem. F (x) = lim F (x + x) F (x) x0 x x+x x f (t) dt a f (t) dt a = lim x0 x x+x f (t) dt = lim x x0 x f ()x = lim , [x, x + x] x0 x = f (x)

The Fundamental Theorem of Integral Calculus. Let F (x) be any anti-derivative of f (x). Noting that all anti-derivatives of f (x) dier by a constant and replacing x by b in Equation 4.2, we see that there exists a constant c such that

b

f (x) dx = F (b) + c.

a

a

f (x) dx = F (a) + c = 0,

a

we see that c = F (a). This gives us a result known as the Fundamental Theorem of Integral Calculus.

b

a

126

Example 4.3.1

0

4.4

4.4.1

Techniques of Integration

Partial Fractions

p(x) p(x) = q(x) (x a)n r(x)

where the ak s are constants and the last ellipses represents the partial fractions expansion of the roots of r(x). The coecients are 1 dk p(x) ak = . k! dxk r(x) x= Example 4.4.1 Consider the partial fraction expansion of 1 + x + x2 . (x 1)3 The expansion has the form a0 a1 a2 + + . 3 2 (x 1) (x 1) x1 127

The coecients are 1 (1 + x + x2 )|x=1 = 3, 0! 1 d a1 = (1 + x + x2 )|x=1 = (1 + 2x)|x=1 = 3, 1! dx 1 d2 1 a2 = (1 + x + x2 )|x=1 = (2)|x=1 = 1. 2 2! dx 2 a0 = Thus we have 1 + x + x2 3 3 1 = + + . 3 3 2 (x 1) (x 1) (x 1) x1

Example 4.4.2 Suppose we want to evaluate 1 + x + x2 dx. (x 1)3 If we expand the integrand in a partial fraction expansion, then the integral becomes easy. 1 + x + x2 dx. = (x 1)3 3 3 1 + + dx 3 2 (x 1) (x 1) x1 3 3 = + ln(x 1) 2 2(x 1) (x 1)

Example 4.4.3 Consider the partial fraction expansion of 1 + x + x2 . x2 (x 1)2 The expansion has the form a0 a1 b0 b1 + + + . 2 2 x x (x 1) x1 128

The coecients are 1 1 + x + x2 = 1, 0! (x 1)2 x=0 1 d 1 + x + x2 a1 = = 1! dx (x 1)2 x=0 1 1 + x + x2 b0 = = 3, 0! x2 x=1 1 d 1 + x + x2 b1 = = 1! dx x2 x=1 a0 = Thus we have

= 3,

x=0

1 + 2x 2(1 + x + x2 ) x2 x3

= 3,

x=1

1 + x + x2 1 3 3 3 = 2+ + . 2 (x 1)2 2 x x x (x 1) x1

If the rational function has real coecients and the denominator has complex roots, then you can reduce the work in nding the partial fraction expansion with the following trick: Let and be complex conjugate pairs of roots of the denominator. p(x) = (x )n (x )n r(x) a0 a1 an1 + + + (x )n (x )n1 x a0 a1 an1 + + + + n n1 (x ) (x ) x

+ ( )

Thus we dont have to calculate the coecients for the root at . We just take the complex conjugate of the coecients for . Example 4.4.4 Consider the partial fraction expansion of 1+x . x2 + 1 129

The expansion has the form a0 a0 + xi x+i The coecients are 1 1+x 1 = (1 i), 0! x + i x=i 2 1 1 a0 = (1 i) = (1 + i) 2 2 a0 = Thus we have 1+x 1i 1+i = + . 2+1 x 2(x i) 2(x + i)

4.5

Improper Integrals

b a

If the range of integration is innite or f (x) is discontinuous at some points then integral.

Discontinuous Functions. If f (x) is continuous on the interval a x b except at the point x = c where a < c < b then

b a c b

f (x) dx = lim +

0

f (x) dx + lim +

0

f (x) dx

c+

provided that both limits exist. Example 4.5.1 Consider the integral of ln x on the interval [0, 1]. Since the logarithm has a singularity at x = 0, this 130

is an improper integral. We write the integral in terms of a limit and evaluate the limit with LHospitals rule.

1 1

ln x dx = lim

0

ln x dx

= lim[x ln x x]1

0

= 1 ln(1) 1 lim( ln )

0

= 1 lim( ln )

0

= 1 lim

= 1 lim = 1

ln 1/ 1/ 1/ 2

Example 4.5.2 Consider the integral of xa on the range [0, 1]. If a < 0 then there is a singularity at x = 0. First assume that a = 1.

1 0

xa dx = lim +

0

xa+1 a+1

a+1 1 lim a + 1 0+ a + 1

This limit exists only for a > 1. Now consider the case that a = 1.

1 0

0

= ln(0) lim ln +

0

131

1

xa dx =

0

1 , a+1

for a > 1.

Innite Limits of Integration. If the range of integration is innite, say [a, ) then we dene the integral as

f (x) dx = lim

a

f (x) dx,

a

a

f (x) dx = lim

f (x) dx + lim

f (x) dx.

a

Example 4.5.3

1

ln x dx = x2

ln x

1

d 1 dx x

dx

= ln x = lim

1 x

x+

= lim =1

x+

1 1 dx x x 1 1 ln x 1 x x 1 1/x 1 lim + 1 x x 1

132

1

a

x1 dx = lim [ln x] 1

1 +

= lim ln

+

1 a+1

xa dx =

1

1 , a+1

for a < 1.

133

4.6

4.6.1

Exercises

The Indenite Integral

Exercise 4.1 (mathematica/calculus/integral/fundamental.nb) Evaluate (2x + 3)10 dx. Hint, Solution Exercise 4.2 (mathematica/calculus/integral/fundamental.nb) x)2 Evaluate (lnx dx. Hint, Solution Exercise 4.3 (mathematica/calculus/integral/fundamental.nb) Evaluate x x2 + 3 dx. Hint, Solution Exercise 4.4 (mathematica/calculus/integral/fundamental.nb) x Evaluate cos x dx. sin Hint, Solution Exercise 4.5 (mathematica/calculus/integral/fundamental.nb) x2 Evaluate x3 5 dx. Hint, Solution

4.6.2

b N 1

f (x) dx = lim

a

f (xn )x

n=0

134

where x =

ba N

1 0

1 x dx = . 2

Hint, Solution Exercise 4.7 (mathematica/calculus/integral/denite.nb) Evaluate the following integral using integration by parts and the Pythagorean identity. Hint, Solution Exercise 4.8 (mathematica/calculus/integral/denite.nb) Prove that f (x) d h() d = h(f (x))f (x) h(g(x))g (x). dx g(x) (Dont use the limit denition of dierentiation, use the Fundamental Theorem of Integral Calculus.) Hint, Solution Exercise 4.9 (mathematica/calculus/integral/denite.nb) Let An be the area between the curves x and xn on the interval [0 . . . 1]. What is limn An ? Explain this result geometrically. Hint, Solution Exercise 4.10 (mathematica/calculus/integral/taylor.nb) a. Show that

x 0

sin2 x dx

f (x) = f (0) +

0

f (x ) d.

x

0

f (x ) d.

135

c. Using induction, show that 1 1 f (x) = f (0) + xf (0) + x2 f (0) + + xn f (n) (0) + 2 n! Hint, Solution Exercise 4.11 Find a function f (x) whose arc length from 0 to x is 2x. Hint, Solution Exercise 4.12 Consider a curve C, bounded by 1 and 1, on the interval (1 . . . 1). Can the length of C be unbounded? What if we change to the closed interval [1 . . . 1]? Hint, Solution

x 0

1 n (n+1) f (x ) d. n!

4.6.3 4.6.4

Exercise 4.13 (mathematica/calculus/integral/parts.nb) Evaluate x sin x dx. Hint, Solution Exercise 4.14 (mathematica/calculus/integral/parts.nb) Evaluate x3 e2x dx. Hint, Solution Exercise 4.15 (mathematica/calculus/integral/partial.nb) Evaluate x21 dx. 4 Hint, Solution 136

4.6.5

Improper Integrals

Exercise 4.17 (mathematica/calculus/integral/improper.nb) 4 1 Evaluate 0 (x1)2 dx. Hint, Solution Exercise 4.18 (mathematica/calculus/integral/improper.nb) 1 1 Evaluate 0 x dx. Hint, Solution Exercise 4.19 (mathematica/calculus/integral/improper.nb) Evaluate 0 x21 dx. +4 Hint, Solution

137

4.7

Hints

Hint 4.1 Make the change of variables u = 2x + 3. Hint 4.2 Make the change of variables u = ln x. Hint 4.3 Make the change of variables u = x2 + 3. Hint 4.4 Make the change of variables u = sin x. Hint 4.5 Make the change of variables u = x3 5. Hint 4.6

N 1

x dx = lim

0

xn x

n=0 N 1

= lim

(nx)x

n=0

Hint 4.7 Let u = sin x and dv = sin x dx. Integration by parts will give you an equation for Hint 4.8 Let H (x) = h(x) and evaluate the integral in terms of H(x). 138

sin2 x dx.

Hint 4.9 CONTINUE Hint 4.10 a. Evaluate the integral. b. Use integration by parts to evaluate the integral. c. Use integration by parts with u = f (n+1) (x ) and dv = Hint 4.11 The arc length from 0 to x is

x 1 n . n!

1 + (f ())2 d

0

(4.3)

First show that the arc length of f (x) from a to b is 2(b a). Then conclude that the integrand in Equation 4.3 must everywhere be 2. Hint 4.12 CONTINUE Hint 4.13 Let u = x, and dv = sin x dx. Hint 4.14 Perform integration by parts three successive times. For the rst one let u = x3 and dv = e2x dx. Hint 4.15 Expanding the integrand in partial fractions, 1 1 a b = = + x2 4 (x 2)(x + 2) (x 2) (x + 2) 1 = a(x + 2) + b(x 2) 139

Set x = 2 and x = 2 to solve for a and b. Hint 4.16 Expanding the integral in partial fractions, x+1 x+1 a b c = = + + 2 6x +x x(x 2)(x + 3) x x2 x+3 x + 1 = a(x 2)(x + 3) + bx(x + 3) + cx(x 2) Set x = 0, x = 2 and x = 3 to solve for a, b and c. Hint 4.17

4 0

x3

1 dx = lim 0+ (x 1)2

1 0

1 dx + lim 0+ (x 1)2

4 1+

1 dx (x 1)2

Hint 4.18

1 0

1 dx = lim 0+ x

1 dx x

x2

140

4.8

Solutions

u3 , 2

x2 + 3

Solution 4.4 1 d(sin x) cos x dx = dx sin x sin x dx = ln | sin x| Solution 4.5 x2 dx = x3 5 = Solution 4.6

1 N 1

1 1 d(x3 ) dx x3 5 3 dx 1 ln |x3 5| 3

x dx = lim

0

xn x

n=0 N 1

= lim

(nx)x

n=0 N 1

= lim x2

N n=0

Solution 4.7 Let u = sin x and dv = sin x dx. Then du = cos x dx and v = cos x.

0

+

0

cos2 x dx

=

0

cos2 x dx (1 sin2 x) dx

0

=

0

sin2 x dx sin2 x dx =

2

0

sin2 x dx =

0

f (x)

h() d =

g(x)

= H (f (x))f (x) H (g(x))g (x) = h(f (x))f (x) h(g(x))g (x) Solution 4.9 First we compute the area for positive integer n.

1

An =

0

xn+1 x2 (x x ) dx = 2 n+1

n

=

0

1 1 2 n+1

143

In Figure 4.3 we plot the functions x1 , x2 , x4 , x8 , . . . , x1024 . In the limit as n , xn on the interval [0 . . . 1] tends to the function 0 0x<1 1 x=1 Thus the area tends to the area of the right triangle with unit base and height.

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

144

Solution 4.10 1.

x

f (0) +

0

2.

x

f (0) + xf (0) +

0

f (x ) d = f (0) + xf (0) + [f (x

x )]0

0 )]x 0

f (x ) d

3. Above we showed that the hypothesis holds for n = 0 and n = 1. Assume that it holds for some n = m 0.

x 1 1 1 n (n+1) f (x ) d f (x) = f (0) + xf (0) + x2 f (0) + + xn f (n) (0) + 2 n! 0 n! 1 1 1 = f (0) + xf (0) + x2 f (0) + + xn f (n) (0) + n+1 f (n+1) (x ) 2 n! (n + 1)! x 1 n+1 f (n+2) (x ) d (n + 1)! 0 1 1 1 = f (0) + xf (0) + x2 f (0) + + xn f (n) (0) + xn+1 f (n+1) (0) 2 n! (n + 1)! x 1 n+1 f (n+2) (x ) d + (n + 1)! 0

x 0

This shows that the hypothesis holds for n = m + 1. By induction, the hypothesis hold for all n 0. 145

Solution 4.11 First note that the arc length from a to b is 2(b a).

b b a

1 + (f (x))2 dx =

a 0

1 + (f (x))2 dx

0

1 + (f (x))2 dx = 2b 2a

Since a and b are arbitrary, we conclude that the integrand must everywhere be 2. 1 + (f (x))2 = 2 f (x) = 3 f (x) is a continuous, piecewise dierentiable function which satises f (x) = 3 at the points where it is dierentiable. One example is f (x) = 3x Solution 4.12 CONTINUE Solution 4.13 Let u = x, and dv = sin x dx. Then du = dx and v = cos x. x sin x dx = x cos x + cos x dx

= x cos x + sin x + C Solution 4.14 Let u = x3 and dv = e2x dx. Then du = 3x2 dx and v = 1 e2x . 2 1 3 x3 e2x dx = x3 e2x 2 2 146 x2 e2x dx

Let u = x2 and dv = e2x dx. Then du = 2x dx and v = 1 e2x . 2 1 3 x3 e2x dx = x3 e2x 2 2 1 2 2x x e 2 x e2x dx x e2x dx

1 3 3 x3 e2x dx = x3 e2x x2 e2x + 2 4 2 Let u = x and dv = e2x dx. Then du = dx and v = 1 e2x . 2 3 3 1 x3 e2x dx = x3 e2x x2 e2x + 2 4 2

1 2x 1 xe 2 2

e2x dx

1 3 3 3 x3 e2x dx = x3 e2x x2 e2x + x e2x e2x +C 2 4 4 8 Solution 4.15 Expanding the integrand in partial fractions, 1 1 A B = = + 4 (x 2)(x + 2) (x 2) (x + 2) 1 = A(x + 2) + B(x 2) Setting x = 2 yields A = 1 . Setting x = 2 yields B = 1 . Now we can do the integral. 4 4 x2 1 dx = 4 1 1 dx 4(x 2) 4(x + 2) 1 1 = ln |x 2| ln |x + 2| + C 4 4 1 x2 = +C 4 x+2 147

x2

Solution 4.16 Expanding the integral in partial fractions, x+1 x+1 A B C = = + + 2 6x +x x(x 2)(x + 3) x x2 x+3

x3

3 . 10 2 Setting x = 3 yields C = 15 .

x3

Solution 4.17

4 0

1 dx = lim 0+ (x 1)2

1 0

1 dx + lim 0+ (x 1)2

1

4 1+

1 dx (x 1)2

4 1+

Solution 4.18

1 0 1

1 dx = lim 0+ x

0

=2 Solution 4.19

0

1 dx = lim 2+4 x

1 dx +4 0 1 x = lim arctan 2 2 1 = 0 2 2 = 4 x2

149

4.9

Quiz

b a

Problem 4.1 Write the limit-sum denition of Solution Problem 4.2 2 Evaluate 1 |x| dx. Solution Problem 4.3 2 x d Evaluate dx x f () d. Solution Problem 4.4 2 Evaluate 1+x+x3 dx. (x+1) Solution

f (x) dx.

Problem 4.5 State the integral mean value theorem. Solution Problem 4.6 What is the partial fraction expansion of Solution

1 ? x(x1)(x2)(x3)

150

4.10

Quiz Solutions

Solution 4.1 Let a = x0 < x1 < < xn1 < xn = b be a partition of the interval (a..b). We dene xi = xi+1 xi and x = maxi xi and choose i [xi ..xi+1 ].

b n1

f (x) dx = lim

a

x0

f (i )xi

i=0

Solution 4.2

2 0

|x| dx =

1

x dx +

0 2

x dx

= =

1 1 0

x dx +

0 1

x dx

2 0

d dx

x2 x

f () d = f (x2 )

Solution 4.4 First we expand the integrand in partial fractions. 1 + x + x2 a b c = + + (x + 1)3 (x + 1)3 (x + 1)2 x + 1 a = (1 + x + x2 ) b= c= Then we can do the integration. 1 + x + x2 dx = (x + 1)3 1 1 1 + 3 2 (x + 1) (x + 1) x+1 1 1 = + + ln |x + 1| 2(x + 1)2 x + 1 x + 1/2 + ln |x + 1| = (x + 1)2 dx 1 1! 1 2!

x=1

=1 = (1 + 2x)

x=1 x=1

d (1 + x + x2 ) dx d2 (1 + x + x2 ) dx2

= 1

=

x=1

1 (2) 2

x=1

=1

b

a

a=

153

5.1 Vector Functions

Vector-valued Functions. A vector-valued function, r(t), is a mapping r : R Rn that assigns a vector to each value of t. r(t) = r1 (t)e1 + + rn (t)en . An example of a vector-valued function is the position of an object in space as a function of time. The function is continous at a point t = if lim r(t) = r( ).

t

This occurs if and only if the component functions are continuous. The function is dierentiable if dr r(t + t) r(t) lim dt t0 t exists. This occurs if and only if the component functions are dierentiable. If r(t) represents the position of a particle at time t, then the velocity and acceleration of the particle are dr dt and 154 d2 r , dt2

respectively. The speed of the particle is |r (t)|. Dierentiation Formulas. Let f (t) and g(t) be vector functions and a(t) be a scalar function. By writing out components you can verify the dierentiation formulas: d (f g) = f g + f g dt d (f g) = f g + f g dt d (af ) = a f + af dt

5.2

Scalar and Vector Fields. A scalar eld is a function of position u(x) that assigns a scalar to each point in space. A function that gives the temperature of a material is an example of a scalar eld. In two dimensions, you can graph a scalar eld as a surface plot, (Figure 5.1), with the vertical axis for the value of the function. A vector eld is a function of position u(x) that assigns a vector to each point in space. Examples of vectors elds are functions that give the acceleration due to gravity or the velocity of a uid. You can graph a vector eld in two or three dimension by drawing vectors at regularly spaced points. (See Figure 5.1 for a vector eld in two dimensions.) Partial Derivatives of Scalar Fields. Consider a scalar eld u(x). The partial derivative of u with respect to xk is the derivative of u in which xk is considered to be a variable and the remaining arguments are considered to be u parameters. The partial derivative is denoted xk u(x), xk or uxk and is dened u u(x1 , . . . , xk + x, . . . , xn ) u(x1 , . . . , xk , . . . , xn ) lim . xk x0 x Partial derivatives have the same dierentiation formulas as ordinary derivatives. 155

1 0.5 0 -0.5 -1 0 2 4 6 0 2 4 6

Consider a scalar eld in R3 , u(x, y, z). Higher derivatives of u are denoted: 2u u , 2 x x x 2u u , xy x y 4u 2 u . x2 yz x2 y z 156

If uxy and uyx are continuous, then 2u 2u = . xy yx This is referred to as the equality of mixed partial derivatives. Partial Derivatives of Vector Fields. Consider a vector eld u(x). The partial derivative of u with respect to u xk is denoted xk u(x), xk or uxk and is dened u(x1 , . . . , xk + x, . . . , xn ) u(x1 , . . . , xk , . . . , xn ) u lim . xk x0 x Partial derivatives of vector elds have the same dierentiation formulas as ordinary derivatives. Gradient. We introduce the vector dierential operator, which is known as del or nabla. In R3 it is i+ j + k. x y z e1 + + en , x1 xn

Directional Derivative. Suppose you are standing on some terrain. The slope of the ground in a particular direction is the directional derivative of the elevation in that direction. Consider a dierentiable scalar eld, u(x). The 157

derivative of the function in the direction of the unit vector a is the rate of change of the function in that direction. Thus the directional derivative, Da u, is dened: Da u(x) = lim

0

u(x + a) u(x) u(x1 + a1 , . . . , xn + an ) u(x1 , . . . , xn ) (u(x) + a1 ux1 (x) + + an uxn (x) + O( 2 )) u(x)

= lim

0

= lim

0

Tangent to a Surface. The gradient, f , is orthogonal to the surface f (x) = 0. Consider a point on the surface. Let the dierential dr = dx1 e1 + dxn en lie in the tangent plane at . Then df = since f (x) = 0 on the surface. Then f dr = f e1 + + x1 f = dx1 + + x1 =0 f en (dx1 e1 + + dxn en ) xn f dxn xn f f dx1 + + dxn = 0 x1 xn

Thus

Example 5.2.1 Consider the paraboloid, x2 + y 2 z = 0. We want to nd the tangent plane to the surface at the point (1, 1, 2). The gradient is f = 2xi + 2yj k. 158

At the point (1, 1, 2) this is f (1, 1, 2) = 2i + 2j k. We know a point on the tangent plane, (1, 1, 2), and the normal, f (1, 1, 2) (x, y, z) = f (1, 1, 2). The equation of the plane is

f (1, 1, 2) (1, 1, 2)

2x + 2y z = 2 The gradient of the function f (x) = 0, f (x), is in the direction of the maximum directional derivative. The magnitude of the gradient, | f (x)|, is the value of the directional derivative in that direction. To derive this, note that Da f = f a = | f | cos ,

where is the angle between f and a. Da f is maximum when = 0, i.e. when a is the same direction as f . In this direction, Da f = | f |. To use the elevation example, f points in the uphill direction and | f | is the uphill slope. Example 5.2.2 Suppose that the two surfaces f (x) = 0 and g(x) = 0 intersect at the point x = . What is the angle between their tangent planes at that point? First we note that the angle between the tangent planes is by denition the angle between their normals. These normals are in the direction of f () and g(). (We assume these are nonzero.) The angle, , between the tangent planes to the surfaces is = arccos f () g() | f ()| | g()| .

Example 5.2.3 Let u be the distance from the origin: u(x) = x x = xi xi . In three dimensions, this is u(x, y, z) = x2 + y 2 + z 2 . 159

The gradient of u,

(x), is a unit vector in the direction of x. The gradient is: u(x) = xn x1 ,..., xx xx x i ei = . xj xj

This is a unit vector because the sum of the squared components sums to unity. u Figure 5.2 shows a plot of the vector eld of xi ei xk ek xi xi u= =1 xj xj xl xl xj xj u in two dimensions.

Example 5.2.4 Consider an ellipse. An implicit equation of an ellipse is x2 y 2 + 2 = 1. a2 b We can also express an ellipse as u(x, y) + v(x, y) = c where u and v are the distance from the two foci. That is, an ellipse is the set of points such that the sum of the distances from the two foci is a constant. Let n = (u + v). This is a vector which is orthogonal to the ellipse when evaluated on the surface. Let t be a unit tangent to the surface. Since n and t are orthogonal, nt=0 ( u + v) t = 0 u t = v (t). 160

n v -t u v u t

Figure 5.3: An ellipse and rays from the foci. Since these are unit vectors, the angle between u and t is equal to the angle between v and t. In other words: If we draw rays from the foci to a point on the ellipse, the rays make equal angles with the ellipse. If the ellipse were 161

a reective surface, a wave starting at one focus would be reected from the ellipse and travel to the other focus. See Figure 6.4. This result also holds for ellipsoids, u(x, y, z) + v(x, y, z) = c. We see that an ellipsoidal dish could be used to collect spherical waves, (waves emanating from a point). If the dish is shaped so that the source of the waves is located at one foci and a collector is placed at the second, then any wave starting at the source and reecting o the dish will travel to the collector. See Figure 5.4.

162

5.3

Exercises

Vector Functions

Exercise 5.1 Consider the parametric curve r = cos Calculate dr and dt Hint, Solution

d2 r . dt2

t 2

i + sin

t 2

j.

Exercise 5.2 Let r(t) be the position of an object moving with constant speed. Show that the acceleration of the object is orthogonal to the velocity of the object. Hint, Solution

Vector Fields

Exercise 5.3 Consider the paraboloid x2 + y 2 z = 0. What is the angle between the two tangent planes that touch the surface at (1, 1, 2) and (1, 1, 2)? What are the equations of the tangent planes at these points? Hint, Solution Exercise 5.4 Consider the paraboloid x2 + y 2 z = 0. What is the point on the paraboloid that is closest to (1, 0, 0)? Hint, Solution Exercise 5.5 Consider the region R dened by x2 + xy + y 2 9. What is the volume of the solid obtained by rotating R about the y axis? Is this the same as the volume of the solid obtained by rotating R about the x axis? Give geometric and algebraic explanations of this. 163

Hint, Solution Exercise 5.6 Two cylinders of unit radius intersect at right angles as shown in Figure 5.5. What is the volume of the solid enclosed by the cylinders?

Figure 5.5: Two cylinders intersecting. Hint, Solution Exercise 5.7 Consider the curve f (x) = 1/x on the interval [1 . . . ). Let S be the solid obtained by rotating f (x) about the x axis. (See Figure 5.6.) Show that the length of f (x) and the lateral area of S are innite. Find the volume of S. 1 Hint, Solution Exercise 5.8 Suppose that a deposit of oil looks like a cone in the ground as illustrated in Figure 5.7. Suppose that the oil has a

1

You could ll S with a nite amount of paint, but it would take an innite amount of paint to cover its surface.

164

1 2 3 4 5 -1 0

-1 1

Figure 5.6: The rotation of 1/x about the x axis. density of 800kg/m3 and its vertical depth is 12m. How much work2 would it take to get the oil to the surface. Hint, Solution Exercise 5.9 Find the area and volume of a sphere of radius R by integrating in spherical coordinates. Hint, Solution

2

165

surface 32 m 12 m 12 m

ground

5.4

Hints

Vector Functions

Hint 5.1 Plot the velocity and acceleration vectors at regular intervals along the path of motion. Hint 5.2 If r(t) has constant speed, then |r (t)| = c. The condition that the acceleration is orthogonal to the velocity can be stated mathematically in terms of the dot product, r (t) r (t) = 0. Write the condition of constant speed in terms of a dot product and go from there.

Vector Fields

Hint 5.3 The angle between two planes is the angle between the vectors orthogonal to the planes. The angle between the two 166

vectors is = arccos

2, 2, 1 2, 2, 1 | 2, 2, 1 || 2, 2, 1 |

The equation of a line orthogonal to a and passing through the point b is a x = a b. Hint 5.4 Since the paraboloid is a dierentiable surface, the normal to the surface at the closest point will be parallel to the vector from the closest point to (1, 0, 0). We can express this using the gradient and the cross product. If (x, y, z) is the closest point on the paraboloid, then a vector orthogonal to the surface there is f = 2x, 2y, 1 . The vector from the surface to the point (1, 0, 0) is 1 x, y, z . These two vectors are parallel if their cross product is zero. Hint 5.5 CONTINUE Hint 5.6 CONTINUE Hint 5.7 CONTINUE Hint 5.8 Start with the formula for the work required to move the oil to the surface. Integrate over the mass of the oil. Work = (acceleration) (distance) d(mass)

Here (distance) is the distance of the dierential of mass from the surface. The acceleration is that of gravity, g. Hint 5.9 CONTINUE

167

5.5

Solutions

Vector Functions

Solution 5.1 The velocity is 1 r = sin 2 The acceleration is 1 r = cos 4 t 2 t 2 i+ 1 cos 2 1 sin 4 t 2 t 2 j.

j.

Figure 5.8: A Graph of Position and Velocity and of Position and Acceleration Solution 5.2 If r(t) has constant speed, then |r (t)| = c. The condition that the acceleration is orthogonal to the velocity can be stated mathematically in terms of the dot product, r (t) r (t) = 0. Note that we can write the condition of constant 168

speed in terms of a dot product, r (t) r (t) = c, r (t) r (t) = c2 . Dierentiating this equation yields, r (t) r (t) + r (t) r (t) = 0 r (t) r (t) = 0. This shows that the acceleration is orthogonal to the velocity.

Vector Fields

Solution 5.3 The gradient, which is orthogonal to the surface when evaluated there is f = 2xi+2yjk. 2i+2jk and 2i2jk are orthogonal to the paraboloid, (and hence the tangent planes), at the points (1, 1, 2) and (1, 1, 2), respectively. The angle between the tangent planes is the angle between the vectors orthogonal to the planes. The angle between the two vectors is 2, 2, 1 2, 2, 1 = arccos | 2, 2, 1 || 2, 2, 1 | = arccos 1 9 1.45946.

Recall that the equation of a line orthogonal to a and passing through the point b is a x = a b. The equations of the tangent planes are 2, 2, 1 x, y, z = 2, 2, 1 1, 1, 2 , 2x 2y z = 2. The paraboloid and the tangent planes are shown in Figure 5.9. 169

-1

0 1 4

0 1 0 -1

Figure 5.9: Paraboloid and Two Tangent Planes Solution 5.4 Since the paraboloid is a dierentiable surface, the normal to the surface at the closest point will be parallel to the vector from the closest point to (1, 0, 0). We can express this using the gradient and the cross product. If (x, y, z) is the closest point on the paraboloid, then a vector orthogonal to the surface there is f = 2x, 2y, 1 . The vector from the surface to the point (1, 0, 0) is 1 x, y, z . These two vectors are parallel if their cross product is zero, 2x, 2y, 1 1 x, y, z = y 2yz, 1 + x + 2xz, 2y = 0. This gives us the three equations, y 2yz = 0, 1 + x + 2xz = 0, 2y = 0. The third equation requires that y = 0. The rst equation then becomes trivial and we are left with the second equation, 1 + x + 2xz = 0. Substituting z = x2 + y 2 into this equation yields, 2x3 + x 1 = 0. 170

2/3

61/3

1/3

0.589755.

2/3

61/3

1/3

, 0,

62/3 9 +

87 9 + 87

2/3

61/3

(0.589755, 0, 0.34781).

1/3

1 1-1 0.5 -1 -0.5 0 -0.5 0 0.5 1

1.5

0.5

Figure 5.10: Paraboloid, Tangent Plane and Line Connecting (1, 0, 0) to Closest Point

171

Solution 5.5 We consider the region R dened by x2 + xy + y 2 9. The boundary of the region is an ellipse. (See Figure 5.11 for the ellipse and the solid obtained by rotating the region.) Note that in rotating the region about the y axis, only the

2 3 -2 2 1 0

2 1 2 3

-3

-2

-1 -1 -2

0 -2

-2 -3 0 2

Figure 5.11: The curve x2 + xy + y 2 = 9. portions in the second and fourth quadrants make a contribution. Since the solid is symmetric across the xz plane, we will nd the volume of the top half and then double this to get the volume of the whole solid. Now we consider rotating the region in the second quadrant about the y axis. In the equation for the ellipse, x2 + xy + y 2 = 9, we solve for x. x= 1 y 3 12 y 2 2

In the second quadrant, the curve (y 3 12 y 2 )/2 is dened on y [0 . . . 12] and the curve (y 3 12 y 2 )/2 is dened on y [3 . . . 12]. (See Figure 5.12.) We nd the volume obtained by rotating the 172

-3.5

-3

-2.5

-2

-1.5

-1

-0.5

Figure 5.12: (y

3 12 y 2 )/2 in green.

rst curve and subtract the volume from rotating the second curve. 2 12 12 y 3 12 y 2 V = 2 dy 2 0 3

y +

3 12 2

y2

dy

V = 2

12

y+

0

12

3 12 y 2

dy

3 12

y +

3 12 y 2 12y

dy

V = 2 V = 2

12

2y 2 +

0

12y

12 y 2 + 36 dy

3 12 3/2

2y 2

12 y 2 + 36 dy

12 3/2

2 2 y 3 12 y 2 3 3

+ 36y

0

2 2 y 3 + 12 y 2 3 3

+ 36y

3

V = 72 173

Now consider the volume of the solid obtained by rotating R about the x axis? This as the same as the volume of the solid obtained by rotating R about the y axis. Geometrically we know this because R is symmetric about the line y = x. Now we justify it algebraically. Consider the phrase: Rotate the region x2 + xy + y 2 9 about the x axis. We formally swap x and y to obtain: Rotate the region y 2 + yx + x2 9 about the y axis. Which is the original problem. Solution 5.6 We nd of the volume of the intersecting cylinders by summing the volumes of the two cylinders and then subracting the volume of their intersection. The volume of each of the cylinders is 2. The intersection is shown in Figure 5.13. If we slice this solid along the plane z = const we have a square with side length 2 1 z 2 . The volume of the intersection of the cylinders is

1

4 1 z 2 dz.

1

1 0.5 0 -0.5 -1 1 0.5 0 -0.5 -1 -1 -0.5 0 0.5 1

V = 2(2) 2

0

4 1 z 2 dz 16 3

L=

1

1 + 1/x2 dx.

Since 1 + 1/x2 > 1/x, the integral diverges. The length is innite. We nd the area of S by integrating the length of circles.

A=

1

2 dx x

This integral also diverges. The area is innite. Finally we nd the volume of S by integrating the area of disks.

V =

1

dx = 2 x x

=

1

Solution 5.8 First we write the formula for the work required to move the oil to the surface. We integrate over the mass of the oil. Work = (acceleration) (distance) d(mass)

Here (distance) is the distance of the dierential of mass from the surface. The acceleration is that of gravity, g. The dierential of mass can be represented an a dierential of volume time the density of the oil, 800 kg/m3 . Work = 800g(distance) d(volume) 175

We place the coordinate axis so that z = 0 coincides with the bottom of the cone. The oil lies between z = 0 and z = 12. The cross sectional area of the oil deposit at a xed depth is z 2 . Thus the dierential of volume is z 2 dz. This oil must me raised a distance of 24 z.

12

W =

0

2

kg m2 s2

area =

0 0

R2 sin d d

= 2R2

0

sin d

R 2 0 R 0 0 R 0

volume =

0

r2 sin d d dr r2 sin d dr r 3

3

= 2 = 2

[ cos ] 0

0

4 volume = R3 3

176

5.6

Quiz

Problem 5.1 What is the distance from the origin to the plane x + 2y + 3z = 4? Solution Problem 5.2 A bead of mass m slides frictionlessly on a wire determined parametrically by w(s). The bead moves under the force of gravity. What is the acceleration of the bead as a function of the parameter s? Solution

177

5.7

Quiz Solutions

Solution 5.1 Recall that the equation of a plane is x n = a n where a is a point in the plane and n is normal to the plane. We are considering the plane x + 2y + 3z = 4. A normal to the plane is 1, 2, 3 . The unit normal is 1 n = 1, 2, 3 . 15 By substituting in x = y = 0, we see that a point in the plane is a = 0, 0, 4/3 . The distance of the plane from the origin is a n = 4 . 15 Solution 5.2 The force of gravity is gk. The unit tangent to the wire is w (s)/|w (s)|. The component of the gravitational force in the tangential direction is gk w (s)/|w (s)|. Thus the acceleration of the bead is gk w (s) . m|w (s)|

178

179

Im sorry. You have reached an imaginary number. Please rotate your phone 90 degrees and dial again. -Message on answering machine of Cathy Vargas.

6.1

Complex Numbers

Shortcomings of Real Numbers. When you started algebra, you learned that the quadratic equation: x2 + 2ax + b = 0 has either two, one or no solutions. For example: x2 3x + 2 = 0 has the two solutions x = 1 and x = 2. For x2 2x + 1 = 0, x = 1 is a solution of multiplicity two. x2 + 1 = 0 has no solutions. 180

This is a little unsatisfactory. We can formally solve the general quadratic equation. x2 + 2ax + b = 0 (x + a)2 = a2 b x = a a2 b However, solutions are dened only when the discriminant, a2 b is positive. This is because the square root the function, x, is a bijection from R0+ to R0+ . (See Figure 6.1.)

Figure 6.1: y =

A New Mathematical Constant. We cannot solve x2 = 1 because 1 is dened. To overcome this not apparent shortcoming of the real number system, we create a new symbolic constant 1. Note that we can express the square root of any negative real number in terms of 1: r = 1 r. Now we can express the solutions of 2 2 x2 = 1 as x = 1 and x = 1. These satisfy the equation since 1 = 1 and 1 = 1. 181

Eulers Notation. Euler introduced the notation of using the letter i to denote 1. We will use the symbol , an i without a dot, to denote 1. This helps us distinguish it from i used as a variable or index.1 We call any number of the form b, b R, a pure imaginary number.2 We call numbers of the form a + b, where a, b R, complex numbers 3

The Quadratic. Now we return to the quadratic with real coecients, x2 + 2ax + b = 0. It has the solutions x = a a2 b. The solutions are real-valued only if a2 b 0. If not, then we can dene solutions as complex numbers. If the discriminant is negative, we write x = a b a2 . Thus every quadratic polynomial with real coecients has exactly two solutions, counting multiplicities. The fundamental theorem of algebra states that an nth degree polynomial with complex coecients has n, not necessarily distinct, complex roots. We will prove this result later using the theory of functions of a complex variable.

Component Operations. Consider the complex number z = x + y, (x, y R). The real part of z is (z) = x; the imaginary part of z is (z) = y. Two complex numbers, z1 = x1 + y1 and z2 = x2 + y2 , are equal if and only if x1 = x2 and y1 = y2 . The complex conjugate 4 of z = x + y is z x y. The notation z x y is also used.

Field Properties. The set of complex numbers, C, form a eld. That essentially means that we can do arithmetic with complex numbers. We treat as a symbolic constant with the property that 2 = 1. The eld of complex numbers satisfy the following properties: (Let z, z1 , z2 , z3 C.)

Electrical engineering types prefer to use or j to denote 1. 2 Imaginary is an unfortunate term. Real numbers are articial; constructs of the mind. Real numbers are no more real than imaginary numbers. 3 Here complex means composed of two or more parts, not hard to separate, analyze, or solve. Those who disagree have a complex number complex. 4 Conjugate: having features in common but opposite or inverse in some particular.

1

182

1. Closure under addition and multiplication. z1 + z2 = (x1 + y1 ) + (x2 + y2 ) = (x1 + x2 ) + (y1 + y2 ) C z1 z2 = (x1 + y1 ) (x2 + y2 ) = (x1 x2 y1 y2 ) + (x1 y2 + x2 y1 ) C 2. Commutativity of addition and multiplication. z1 + z2 = z2 + z1 . z1 z2 = z2 z1 . 3. Associativity of addition and multiplication. (z1 + z2 ) + z3 = z1 + (z2 + z3 ). (z1 z2 ) z3 = z1 (z2 z3 ). 4. Distributive law. z1 (z2 + z3 ) = z1 z2 + z1 z3 . 5. Identity with respect to addition and multiplication. z + 0 = z. z(1) = z. 6. Inverse with respect to addition. z + (z) = (x + y) + (x y) = 0. 7. Inverse with respect to multiplication for nonzero numbers. zz 1 = 1, where z 1 = 1 1 x y x y = = 2 = 2 2 2 2 z x + y x +y x +y x + y2

Properties of the Complex Conjugate. Using the eld properties of complex numbers, we can derive the following properties of the complex conjugate, z = x y. 1. (z) = z, 2. z + = z + , 3. z = z, 4. z z = . 183

6.2

Complex Plane. We can denote a complex number z = x + y as an ordered pair of real numbers (x, y). Thus we can represent a complex number as a point in R2 where the rst component is the real part and the second component is the imaginary part of z. This is called the complex plane or the Argand diagram. (See Figure 6.2.) A complex number written as z = x + y is said to be in Cartesian form, or a + b form.

Im(z) (x,y) r Re(z)

Recall that there are two ways of describing a point in the complex plane: an ordered pair of coordinates (x, y) that give the horizontal and vertical oset from the origin or the distance r from the origin and the angle from the positive horizontal axis. The angle is not unique. It is only determined up to an additive integer multiple of 2. Modulus. The magnitude or modulus of a complex number is the distance of the point from the origin. It is dened as |z| = |x + y| = x2 + y 2 . Note that zz = (x + y)(x y) = x2 + y 2 = |z|2 . The modulus has the following properties. 1. |z1 z2 | = |z1 | |z2 | 2. z1 |z1 | = for z2 = 0. z2 |z2 | 184

3. |z1 + z2 | |z1 | + |z2 | 4. |z1 + z2 | ||z1 | |z2 || We could prove the rst two properties by expanding in x + y form, but it would be fairly messy. The proofs will become simple after polar form has been introduced. The second two properties follow from the triangle inequalities in geometry. This will become apparent after the relationship between complex numbers and vectors is introduced. One can show that |z1 z2 zn | = |z1 | |z2 | |zn | and |z1 + z2 + + zn | |z1 | + |z2 | + + |zn | with proof by induction. Argument. The argument of a complex number is the angle that the vector with tail at the origin and head at z = x + y makes with the positive x-axis. The argument is denoted arg(z). Note that the argument is dened for all nonzero numbers and is only determined up to an additive integer multiple of 2. That is, the argument of a complex number is the set of values: { + 2n | n Z}. The principal argument of a complex number is that angle in the set arg(z) which lies in the range (, ]. The principal argument is denoted Arg(z). We prove the following identities in Exercise 6.10. arg(z) = arg(z) + arg() Arg(z) = Arg(z) + Arg() arg z 2 = arg(z) + arg(z) = 2 arg(z) Example 6.2.1 Consider the equation |z 1 | = 2. The set of points satisfying this equation is a circle of radius 2 and center at 1 + in the complex plane. You can see this by noting that |z 1 | is the distance from the point (1, 1). (See Figure 6.3.) 185

3 2 1 -1 -1

Figure 6.3: Solution of |z 1 | = 2 Another way to derive this is to substitute z = x + y into the equation. |x + y 1 | = 2 (x 1)2 + (y 1)2 = 2 (x 1)2 + (y 1)2 = 4 This is the analytic geometry equation for a circle of radius 2 centered about (1, 1). Example 6.2.2 Consider the curve described by |z| + |z 2| = 4. Note that |z| is the distance from the origin in the complex plane and |z 2| is the distance from z = 2. The equation is (distance from (0, 0)) + (distance from (2, 0)) = 4. 186

From geometry, we know that this is an ellipse with foci at (0, 0) and (2, 0), major axis 2, and minor axis Figure 6.4.)

3. (See

2 1 -1 -1 -2

Figure 6.4: Solution of |z| + |z 2| = 4 We can use the substitution z = x + y to get the equation in algebraic form. |z| + |z 2| = 4 |x + y| + |x + y 2| = 4 x2 + y 2 + (x 2)2 + y 2 = 4 x2 + y 2 = 16 8 (x 2)2 + y 2 + x2 4x + 4 + y 2 x 5 = 2 (x 2)2 + y 2 x2 10x + 25 = 4x2 16x + 16 + 4y 2 1 1 (x 1)2 + y 2 = 1 4 3 187

6.3

Polar Form

Polar Form. A complex number written in Cartesian form, z = x + y, can be converted polar form, z = r(cos + sin ), using trigonometry. Here r = |z| is the modulus and = arctan(x, y) is the argument of z. The argument is the angle between the x axis and the vector with its head at (x, y). (See Figure 6.5.) Note that is not unique. If z = r(cos + sin ) then z = r(cos( + 2n) + sin( + 2n)) for any n Z.

Im( z ) r r cos (x,y) r sin Re(z )

The Arctangent. Note that arctan(x, y) is not the same thing as the old arctangent that you learned about in y trigonometry arctan(x, y) is sensitive to the quadrant of the point (x, y), while arctan x is not. For example, arctan(1, 1) = whereas arctan 1 1 = arctan 1 1 = arctan(1). + 2n 4 and arctan(1, 1) = 3 + 2n, 4

188

Eulers Formula. Eulers formula, e = cos + sin ,5 allows us to write the polar form more compactly. Expressing the polar form in terms of the exponential function of imaginary argument makes arithmetic with complex numbers much more convenient. z = r(cos + sin ) = r e The exponential of an imaginary argument has all the nice properties that we know from studying functions of a real variable, like ea eb = e(a+b) . Later on we will introduce the exponential of a complex number. Using Eulers Formula, we can express the cosine and sine in terms of the exponential. e + e (cos() + sin()) + (cos() + sin()) = = cos() 2 2 e e (cos() + sin()) (cos() + sin()) = = sin() 2 2

Arithmetic With Complex Numbers. Note that it is convenient to add complex numbers in Cartesian form. (x1 + y1 ) + (x2 + y2 ) = (x1 + x2 ) + (y1 + y2 ) However, it is dicult to multiply or divide them in Cartesian form. (x1 + y1 ) (x2 + y2 ) = (x1 x2 y1 y2 ) + (x1 y2 + x2 y1 ) x1 + y1 (x1 + y1 ) (x2 y2 ) x1 x2 + y1 y2 x2 y1 x1 y2 = = + 2 2 2 x2 + y2 (x2 + y2 ) (x2 y2 ) x2 + y2 x2 + y2 2

5

189

r1 e1 +r2 e2 = r1 (cos 1 + sin 1 ) + r2 (cos 2 + sin 2 ) = r1 cos 1 + r2 cos 2 + (r1 sin 1 + r2 sin 2 ) = (r1 cos 1 + r2 cos 2 )2 + (r1 sin 1 + r2 sin 2 )2 e arctan(r1 cos 1 +r2 cos 2 ,r1 sin 1 +r2 sin 2 ) =

2 2 r1 + r2 + 2 cos (1 2 ) e arctan(r1 cos 1 +r2 cos 2 ,r1 sin 1 +r2 sin 2 )

r1 e1 r2 e2 = r1 r2 e(1 +2 ) r1 r1 e1 = e(1 2 ) 2 r2 e r2

Keeping this in mind will make working with complex numbers a shade or two less grungy. 190

Result 6.3.1 Eulers formula is e = cos + sin . We can write the cosine and sine in terms of the exponential. e + e cos() = , 2 e e sin() = 2

To change between Cartesian and polar form, use the identities r e = r cos + r sin , x + y = x2 + y 2 e arctan(x,y) .

Cartesian form is convenient for addition. Polar form is convenient for multiplication and division.

Example 6.3.1 We write 5 + 7 in polar form. 5 + 7 = We write 2 e/6 in Cartesian form. 2 e/6 = 2 cos + 2 sin 6 6 = 3+ Example 6.3.2 We will prove the trigonometric identity cos4 = 1 1 3 cos(4) + cos(2) + . 8 2 8 191 74 e arctan(5,7)

4

1 4 e +4 e2 +6 + 4 e2 + e4 16 1 e4 + e4 1 e2 + e2 3 = + + 8 2 2 2 8 1 1 3 = cos(4) + cos(2) + 8 2 8

a

Its amazing what passes for a theorem these days. I would think that this would be a corollary at most.

Example 6.3.3 We will express cos(5) in terms of cos and sin(5) in terms of sin . We start with DeMoivres theorem. e5 = e 192

5

cos(5) + sin(5) = (cos + sin )5 5 5 5 5 cos5 + cos4 sin cos3 sin2 cos2 sin3 = 0 1 2 3 5 5 cos sin4 + sin5 + 4 5 5 3 2 = cos 10 cos sin + 5 cos sin4 + 5 cos4 sin 10 cos2 sin3 + sin5 Then we equate the real and imaginary parts. cos(5) = cos5 10 cos3 sin2 + 5 cos sin4 sin(5) = 5 cos4 sin 10 cos2 sin3 + sin5 Finally we use the Pythagorean identity, cos2 + sin2 = 1. cos(5) = cos5 10 cos3 1 cos2 + 5 cos 1 cos2 cos(5) = 16 cos5 20 cos3 + 5 cos sin(5) = 5 1 sin2

2 2

6.4

Addition. We can represent the complex number z = x + y = r e as a vector in Cartesian space with tail at the origin and head at (x, y), or equivalently, the vector of length r and angle . With the vector representation, we can add complex numbers by connecting the tail of one vector to the head of the other. The vector z + is the diagonal of the parallelogram dened by z and . (See Figure 6.6.) Negation. The negative of z = x + y is z = x y. In polar form we have z = r e and z = r e(+) , (more generally, z = r e(+(2n+1)) , n Z. In terms of vectors, z has the same magnitude but opposite direction as z. (See Figure 6.6.) 193

Multiplication. The product of z = r e and = e is z = r e(+) . The length of the vector z is the product of the lengths of z and . The angle of z is the sum of the angles of z and . (See Figure 6.6.) Note that arg(z) = arg(z) + arg(). Each of these arguments has an innite number of values. If we write out the multi-valuedness explicitly, we have { + + 2n : n Z} = { + 2n : n Z} + { + 2n : n Z} The same is not true of the principal argument. In general, Arg(z) = Arg(z) + Arg(). Consider the case z = = e3/4 . Then Arg(z) = Arg() = 3/4, however, Arg(z) = /2.

Figure 6.6: Addition, Negation and Multiplication

1 Multiplicative Inverse. Assume that z is nonzero. The multiplicative inverse of z = r e is z = 1 e . The r 1 1 length of z is the multiplicative inverse of the length of z. The angle of z is the negative of the angle of z. (See Figure 6.7.)

194

r Division. Assume that is nonzero. The quotient of z = r e and = e is z = e() . The length of the vector z is the quotient of the lengths of z and . The angle of z is the dierence of the angles of z and . (See Figure 6.7.)

Complex Conjugate. The complex conjugate of z = x + y = r e is z = x y = r e . z is the mirror image of z, reected across the x axis. In other words, z has the same magnitude as z and the angle of z is the negative of the angle of z. (See Figure 6.7.)

1 1 _ = e i z r

6.5

Integer Exponents

Consider the product (a + b)n , n Z. If we know arctan(a, b) then it will be most convenient to expand the product working in polar form. If not, we can write n in base 2 to eciently do the multiplications. 195

in Cartesian form.6 We can do the multiplication directly. 2n Note that 20 is 10100 in base 2. That is, 20 = 24 + 22 . We rst calculate the powers of the form 3+ by successive squaring. 2 3 + = 2 + 2 3 4 3 + = 8 + 8 3 8 3 + = 128 128 3 16 3+ = 32768 + 32768 3 3+ Next we multiply 3+

4

20

and

20

3+

16

= 32768 + 32768 3 8 + 8 3 = 524288 524288 3 Since we know that arctan 3, 1 = /6, it is easiest to do this problem by rst changing to modulus-argument form. 3+

20

3+

3

20

+ 12 e arctan(

20 3,1)

= 2 e/6

= 220 e4/3

No, I have no idea why we would want to do that. Just humor me. If you pretend that youre interested, Ill do the same. Believe me, expressing your real feelings here isnt going to do anyone any good.

6

196

Example 6.5.2 Consider (5 + 7)11 . We will do the exponentiation in polar form and write the result in Cartesian form. 11 (5 + 7)11 = 74 e arctan(5,7) = 745 74(cos(11 arctan(5, 7)) + sin(11 arctan(5, 7))) = 2219006624 74 cos(11 arctan(5, 7)) + 2219006624 74 sin(11 arctan(5, 7)) The result is correct, but not very satisfying. This expression could be simplied. You could evaluate the trigonometric functions with some fairly messy trigonometric identities. This would take much more work than directly multiplying (5 + 7)11 .

6.6

Rational Exponents

In this section we consider complex numbers with rational exponents, z p/q , where p/q is a rational number. First we consider unity raised to the 1/n power. We dene 11/n as the set of numbers {z} such that z n = 1. 11/n = {z | z n = 1} We can nd these values by writing z in modulus-argument form. zn = 1 rn en = 1 rn = 1 n = 0 mod 2 r=1 = 2k for k Z 11/n = e2k/n | k Z There are only n distinct values as a result of the 2 periodicity of e . e2 = e0 . 11/n = e2k/n | k = 0, . . . , n 1 197

These values are equally spaced points on the unit circle in the complex plane. Example 6.6.1 11/6 has the 6 values, e0 , e/3 , e2/3 , e , e4/3 , e5/3 . In Cartesian form this is 1 + 3 1 + 3 1 3 1 3 1, , , 1, , 2 2 2 2

-1 -1

Figure 6.8: The Sixth Roots of Unity. The nth roots of the complex number c = e are the set of numbers z = r e such that z n = c = e r= n rn en = e n = mod 2

r=

Thus c1/n =

e(+2k)/n | k = 0, . . . , n 1 =

|c| e(Arg(c)+2k)/n | k = 0, . . . , n 1

Principal Roots. The principal nth root is denoted n z n z e Arg(z)/n . Thus the principal root has the property /n < Arg z /n. This is consistent with the notation from functions of a real variable: n x denotes the positive nth root of a positive real number. We adopt the convention that z 1/n denotes the nth roots of z, which is a set of n numbers and n z is the principal nth root of z, which is a single number. The nth roots of z are the principal nth root of z times the nth roots of unity. z 1/n = n r e(Arg(z)+2k)/n | k = 0, . . . , n 1 z 1/n = n z e2k/n | k = 0, . . . , n 1 z 1/n = n z11/n Rational Exponents. We interpret z p/q to mean z (p/q) . That is, we rst simplify the exponent, i.e. reduce the fraction, before carrying out the exponentiation. Therefore z 2/4 = z 1/2 and z 10/5 = z 2 . If p/q is a reduced fraction, (p and q are relatively prime, in other words, they have no common factors), then z p/q (z p )1/q . Thus z p/q is a set of q values. Note that for an un-reduced fraction r/s, (z r )1/s = z 1/s

r

.

1/2

The former expression is a set of s values while the latter is a set of no more that s values. For instance, (12 ) 2 11/2 = 1 and 11/2 = (1)2 = 1. 199

for k = 0, 1, 2, 3, 4

1/3

(1 + )1/3 = = = =

12

2 e/4

2 e/12 e2k/3 ,

5/6

for k = 0, 1, 2

(2 + )5/6 =

5 e Arctan(2,1)

55 e5 Arctan(2,1)

5

1/6

55 e 6 Arctan(2,1) ek/3 ,

for k = 0, 1, 2, 3, 4, 5

for k = 0, 1, 2, 3, 4

200

6.7

Exercises

Complex Numbers

Exercise 6.1 If z = x + y, write the following in the form a + b: 1. (1 + 2)7 2. 3. 1 zz z + z (3 + )9

2. (1 )4 = 4 Hint, Solution Exercise 6.3 Write the following complex numbers in the form a + b. 1. 1+ 3

10

2

2. (1 )7 Hint, Solution Exercise 6.5 If z = x + y, write the following in the form u(x, y) + v(x, y). 1. 2. z z

z + 2 2 z Hint, Solution Exercise 6.6 Quaternions are sometimes used as a generalization of complex numbers. A quaternion u may be dened as u = u0 + u1 + u2 + ku3 where u0 , u1 , u2 and u3 are real numbers and , and k are objects which satisfy 2 = 2 = k 2 = 1, = k, = k

and the usual associative and distributive laws. Show that for any quaternions u, w there exists a quaternion v such that uv = w except for the case u0 = u1 = u2 = u3 . Hint, Solution 202

Exercise 6.7 Let = 0, = 0 be two complex numbers. Show that = t for some real number t (i.e. the vectors dened by and are parallel) if and only if = 0. Hint, Solution

Exercise 6.8 Find and depict all values of 1. (1 + )1/3 2. 1/4 Identify the principal root. Hint, Solution Exercise 6.9 Sketch the regions of the complex plane: 1. | (z)| + 2| (z)| 1 2. 1 |z | 2 3. |z | |z + | Hint, Solution Exercise 6.10 Prove the following identities. 1. arg(z) = arg(z) + arg() 2. Arg(z) = Arg(z) + Arg() 203

3. arg (z 2 ) = arg(z) + arg(z) = 2 arg(z) Hint, Solution Exercise 6.11 Show, both by geometric and algebraic arguments, that for complex numbers z1 and z2 the inequalities ||z1 | |z2 || |z1 + z2 | |z1 | + |z2 | hold. Hint, Solution Exercise 6.12 Find all the values of 1. (1)3/4 2. 81/6 and show them graphically. Hint, Solution Exercise 6.13 Find all values of 1. (1)1/4 2. 161/8 and show them graphically. Hint, Solution Exercise 6.14 Sketch the regions or curves described by 204

1. 1 < |z 2| < 2 2. | (z)| + 5| (z)| = 1 3. |z | = |z + | Hint, Solution Exercise 6.15 Sketch the regions or curves described by 1. |z 1 + | 1 2. (z) (z) = 5

3. |z | + |z + | = 1 Hint, Solution Exercise 6.16 Solve the equation | e 1| = 2 for (0 ) and verify the solution geometrically. Hint, Solution

Polar Form

Exercise 6.17 Show that Eulers formula, e = cos + sin , is formally consistent with the standard Taylor series expansions for the real functions ex , cos x and sin x. Consider the Taylor series of ex about x = 0 to be the denition of the exponential function for complex argument. Hint, Solution 205

Exercise 6.18 Use de Moivres formula to derive the trigonometric identity cos(3) = cos3 () 3 cos() sin2 (). Hint, Solution Exercise 6.19 Establish the formula 1 z n+1 , 1z for the sum of a nite geometric series; then derive the formulas 1 + z + z2 + + zn = 1. 1 + cos() + cos(2) + + cos(n) = 2. sin() + sin(2) + + sin(n) = where 0 < < 2. Hint, Solution 1 sin((n + 1/2)) + 2 2 sin(/2) (z = 1),

Exercise 6.20 Prove |z1 z2 | = |z1 ||z2 | and Hint, Solution Exercise 6.21 Prove that |z + |2 + |z |2 = 2 |z|2 + ||2 . Interpret this geometrically. Hint, Solution 206

z1 z2

|z1 | |z2 |

Integer Exponents

Exercise 6.22 Write (1 + )10 in Cartesian form with the following two methods: 1. Just do the multiplication. If it takes you more than four multiplications, you suck. 2. Do the multiplication in polar form. Hint, Solution

Rational Exponents

Exercise 6.23 1/2 Show that each of the numbers z = a + (a2 b) satises the equation z 2 + 2az + b = 0. Hint, Solution

207

6.8

Hints

Complex Numbers

Hint 6.1 Hint 6.2 Hint 6.3 Hint 6.4 Hint 6.5 Hint 6.6 Hint 6.7

Hint 6.8 Hint 6.9

208

Hint 6.10 Write the multivaluedness explicitly. Hint 6.11 Consider a triangle with vertices at 0, z1 and z1 + z2 . Hint 6.12 Hint 6.13 Hint 6.14 Hint 6.15 Hint 6.16

Polar Form

Hint 6.17 Find the Taylor series of e , cos and sin . Note that 2n = (1)n . Hint 6.18 Hint 6.19

209

Integer Exponents

Hint 6.22 For the rst part, (1 + )10 = (1 + )2

2 2

(1 + )2 .

Rational Exponents

Hint 6.23 Substitite the numbers into the equation.

210

6.9

Solutions

Complex Numbers

Solution 6.1 1. We can do the exponentiation by directly multiplying. (1 + 2)7 = (1 + 2)(1 + 2)2 (1 + 2)4 = (1 + 2)(3 + 4)(3 + 4)2 = (11 2)(7 24) = 29 + 278 We can also do the problem using De Moivres Theorem. (1 + 2)7 = 5 e arctan(1,2) = 125 5 e7 arctan(1,2) = 125 5 cos(7 arctan(1, 2)) + 125 5 sin(7 arctan(1, 2))

7

1 e9 arctan(3,1) 10000 10 (1 + )(x y) = (cos(9 arctan(3, 1)) sin(9 arctan(3, 1))) 10000 10 (x y) (cos(9 arctan(3, 1)) + sin(9 arctan(3, 1))) = 10000 10 (x y) (cos(9 arctan(3, 1)) sin(9 arctan(3, 1))) + 10000 10 212

We can also do this problem by directly multiplying but its a little grungy. z + z (y + x + x y)(3 )9 = (3 + )9 109 (1 + )(x y)(3 ) ((3 )2 ) = = = = = = Solution 6.2 1. 1 + 2 2 1 + 2 3 + 4 2 + = + 3 4 5 3 4 3 + 4 5 5 + 10 1 2 = + 25 5 2 = 5 2. (1 )4 = (2)2 = 4 213

2 2

109 2 (1 + )(x y)(3 ) (8 6)2 109 (1 + )(x y)(3 )(28 96)2 109 (1 + )(x y)(3 )(8432 5376) 109 (x y)(22976 38368) 109 359(y x) 1199(y x) + 15625000 31250000

1+ 3

10

= = = =

1+ 3

1+ 3

2 + 2 3 2 + 2 3 2 + 2 3

2 + 2 3 8 8 3

128 + 128 3

1

= 512 512 3 =

10

= 2 e/3

10

= 210 e10/3 1 10 10 = cos + sin 1024 3 3 4 4 1 = cos sin 1024 3 3 1 3 1 + = 2 1024 2 1 3 = + 2048 2048 2. (11 + 4)2 = 105 + 88 Solution 6.4 1. 2+ 6 (1 2)

2

215

2.

Solution 6.5 1.

z z

= =

x + y x + y

x y x + y x + y = x y x + y x + y = x y x + y 2xy x2 y 2 = 2 + 2 x + y2 x + y2 216

2. x + y + 2 z + 2 = 2 z 2 (x y) x + (y + 2) = 2 y x x + (y + 2) 2 y + x = 2 y x 2 y + x x(2 y) (y + 2)x x2 + (y + 2)(2 y) = + (2 y)2 + x2 (2 y)2 + x2 2xy 4 + x2 y 2 = + (2 y)2 + x2 (2 y)2 + x2 Solution 6.6 Method 1. We expand the equation uv = w in its components. uv = w (u0 + u1 + u2 + ku3 ) (v0 + v1 + v2 + kv3 ) = w0 + w1 + w2 + kw3 (u0 v0 u1 v1 u2 v2 u3 v3 ) + (u1 v0 + u0 v1 u3 v2 + u2 v3 ) + (u2 v0 + u3 v1 + u0 v2 u1 v3 ) + k (u3 v0 u2 v1 + u1 v2 + u0 v3 ) = w0 + w1 + w2 + kw3 We can write this as a matrix equation.

u0 u1 u2 u3 v0 w0 u1 u0 u3 u2 v1 w1 = u 2 u 3 u0 u1 v2 w2 u3 u2 u1 u0 v3 w3

This linear system of equations has a unique solution for v if and only if the determinant of the matrix is nonzero. The 2 determinant of the matrix is (u2 + u2 + u2 + u2 ) . This is zero if and only if u0 = u1 = u2 = u3 = 0. Thus there 0 1 2 3 217

exists a unique v such that uv = w if u is nonzero. This v is v = (u0 w0 + u1 w1 + u2 w2 + u3 w3 ) + (u1 w0 + u0 w1 + u3 w2 u2 w3 ) + (u2 w0 u3 w1 + u0 w2 + u1 w3 ) + k (u3 w0 + u2 w1 u1 w2 + u0 w3 ) / u2 + u2 + u2 + u2 0 1 2 3 Method 2. Note that uu is a real number. uu = (u0 u1 u2 ku3 ) (u0 + u1 + u2 + ku3 ) = u2 + u2 + u2 + u2 + (u0 u1 u1 u0 u2 u3 + u3 u2 ) 0 1 2 3 + (u0 u2 + u1 u3 u2 u0 u3 u1 ) + k (u0 u3 u1 u2 + u2 u1 u3 u0 ) = u2 + u 2 + u 2 + u2 0 1 2 3 uu = 0 only if u = 0. We solve for v by multiplying by the conjugate of u and dividing by uu. uv = w uuv = uw uw v= uu (u0 u1 u2 ku3 ) (w0 + w1 + w2 + kw3 ) v= u2 + u2 + u 2 + u2 0 1 2 3 v = (u0 w0 + u1 w1 + u2 w2 + u3 w3 ) + (u1 w0 + u0 w1 + u3 w2 u2 w3 ) + (u2 w0 u3 w1 + u0 w2 + u1 w3 ) + k (u3 w0 + u2 w1 u1 w2 + u0 w3 ) / u2 + u2 + u2 + u2 0 1 2 3 Solution 6.7 If = t, then = t||2 , which is a real number. Hence = 0. Now assume that = 0. This implies that = r for some r R. We multiply by and simplify. ||2 = r r = ||2 By taking t =

r ||2

Solution 6.8 1. (1 + )1/3 = = = 6 6 2 e/4

1/3

2 e/12 11/3

2 e/12 e2k/3 , k = 0, 1, 2 /12 3/4 17/12 6 6 6 = 2e , 2e , 2e The principal root is The roots are depicted in Figure 6.9. 2. 1/4 = e/2

1/4

1+=

2 e/12 .

= e/8 11/4 = e/8 e2k/4 , The principal root is The roots are depicted in Figure 6.10. Solution 6.9 1. | (z)| + 2| (z)| 1 |x| + 2|y| 1 219 k = 0, 1, 2, 3 = e/8 , e5/8 , e9/8 , e13/8 4 = e/8 .

-1

-1

In the rst quadrant, this is the triangle below the line y = (1x)/2. We reect this triangle across the coordinate axes to obtain triangles in the other quadrants. Explicitly, we have the set of points: {z = x + y | 1 x 1 |y| (1 |x|)/2}. See Figure 6.11.

2. |z | is the distance from the point in the complex plane. Thus 1 < |z | < 2 is an annulus centered at z = between the radii 1 and 2. See Figure 6.12.

3. The points which are closer to z = than z = are those points in the upper half plane. See Figure 6.13. Solution 6.10 Let z = r e and = e . 220

-1

-1

2. Arg(z) = Arg(z) + Arg() Consider z = = 1. Arg(z) = Arg() = , however Arg(z) = Arg(1) = 0. The identity becomes 0 = 2. 221

4 3 2 1 -3 -2 -1 -1 -2

Figure 6.12: 1 < |z | < 2

1 2 3

222

Figure 6.13: The upper half plane. 3. arg z 2 = arg(z) + arg(z) = 2 arg(z) arg r2 e2 = { + 2k} + { + 2m} = 2{ + 2n} {2 + 2k} = {2 + 2m} = {2 + 4n} Solution 6.11 Consider a triangle in the complex plane with vertices at 0, z1 and z1 + z2 . (See Figure 6.14.) The lengths of the sides of the triangle are |z1 |, |z2 | and |z1 + z2 | The second inequality shows that one side of the triangle must be less than or equal to the sum of the other two sides. |z1 + z2 | |z1 | + |z2 | The rst inequality shows that the length of one side of the triangle must be greater than or equal to the dierence in 223

z1 |z | 1

|z2|

z +z2 1

|z +z2| 1

Now we prove the inequalities algebraically. We will reduce the inequality to an identity. Let z1 = r1 e1 , z2 = r2 e2 . ||z1 | |z2 || |z1 + z2 | |z1 | + |z2 | |r1 r2 | |r1 e1 +r2 e2 | r1 + r2 (r1 r2 )2 r1 e1 +r2 e2 r1 e1 +r2 e2 (r1 + r2 )2

2 2 2 2 2 2 r1 + r2 2r1 r2 r1 + r2 + r1 r2 e(1 2 ) +r1 r2 e(1 +2 ) r1 + r2 + 2r1 r2 2r1 r2 2r1 r2 cos (1 2 ) 2r1 r2 1 cos (1 2 ) 1

224

Solution 6.12 1. (1)3/4 = (1)3 = (1)1/4 = (e )1/4 = e/4 11/4 = e/4 ek/2 ,

/4 3/4 1/4

k = 0, 1, 2, 3

225

-1

-1

Figure 6.15: (1)3/4 Solution 6.13 1. (1)1/4 = ((1)1 )1/4 = (1)1/4 = (e )1/4 = e/4 11/4 = e/4 ek/2 , k = 0, 1, 2, 3 = e/4 , e3/4 , e5/4 , e7/4 1 + 1 + 1 1 = , , , 2 2 2 2 See Figure 6.17. 226

2 1 -2 -1 -1 -2

Figure 6.16: 81/6 2. 161/8 = = 8 1611/8

2 ek/4 , k = 0, 1, 2, 3, 4, 5, 6, 7 /4 /2 3/4 5/4 3/2 7/4 = 2, 2 e , 2 e , 2 e , 2e , 2e , 2e , 2e = 2, 1 + , 2, 1 + , 2, 1 , 2, 1 See Figure 6.18. Solution 6.14 1. |z 2| is the distance from the point 2 in the complex plane. Thus 1 < |z 2| < 2 is an annulus. See Figure 6.19. 227

-1

-1

Figure 6.17: (1)1/4 2. | (z)| + 5| (z)| = 1 |x| + 5|y| = 1 In the rst quadrant this is the line y = (1 x)/5. We reect this line segment across the coordinate axes to obtain line segments in the other quadrants. Explicitly, we have the set of points: {z = x + y | 1 < x < 1 y = (1 |x|)/5}. See Figure 6.20. 3. The set of points equidistant from and is the real axis. See Figure 6.21. Solution 6.15 1. |z 1 + | is the distance from the point (1 ). Thus |z 1 + | 1 is the disk of unit radius centered at (1 ). See Figure 6.22. 228

-1 -1

5 4 3 2 1 -3 -2 -1 -1 1 2 3

229

-1

-1

Figure 6.21: |z | = |z + |

230

1 -1 -1 -2 -3

Figure 6.22: |z 1 + | < 1

231

-10

-5 -5

10

-10

-15

(z) (z) = 5

| e 1| = 2 e 1 e 1 = 4 1 e e +1 = 4 2 cos() = 2 = e | 0 is a unit semi-circle in the upper half of the complex plane from 1 to 1. The only point on this semi-circle that is a distance 2 from the point 1 is the point 1, which corresponds to = .

Polar Form

232

ex =

n=0

xn . n!

We take this as the denition of the exponential function for complex argument.

e =

n=0

=

n=0

=

n=0

We compare this expression to the Taylor series for the sine and cosine.

cos =

n=0

(1)n 2n , (2n)!

sin =

n=0

Thus e and cos + sin have the same Taylor series expansions about = 0. e = cos + sin Solution 6.18 cos(3) + sin(3) = (cos() + sin())3 cos(3) + sin(3) = cos3 () + 3 cos2 () sin() 3 cos() sin2 () sin3 () We equate the real parts of the equation. cos(3) = cos3 () 3 cos() sin2 () 233

n

Sn (z) =

k=0

zk .

n

(1 z)Sn (z) = (1 z)

n

zk

k=0 n+1

(1 z)Sn (z) =

k=0

zk

k=1 n+1

zk

1 z n+1 1z 1 z n+1 1 + z + z2 + + zn = , 1z Sn (z) = Now consider z = e where 0 < < 2 so that z is not unity.

n

(z = 1)

e

k=0 n

1 e = 1 e

n+1

ek =

k=0

1 e(n+1) 1 e

234

In order to get sin(/2) in the denominator, we multiply top and bottom by e/2 .

n

(cos(k) + sin(k)) =

k=0 n n

cos(k) +

k=0 n k=0 n

sin(k) = sin(k) =

k=1

cos(/2) sin(/2) cos((n + 1/2)) sin((n + 1/2)) 2 sin(/2) 1 sin((n + 1/2)) + + 2 sin(/2) 1 cos((n + 1/2)) cot(/2) 2 sin(/2)

cos(k) +

k=0

1. We take the real and imaginary part of this to obtain the identities.

n

cos(k) =

k=0

2.

n

sin(k) =

k=1

Solution 6.20 |z1 z2 | = |r1 e1 r2 e2 | = |r1 r2 e(1 +2 ) | = |r1 r2 | = |r1 ||r2 | = |z1 ||z2 | 235

Solution 6.21

|z + |2 + |z |2 = (z + ) z + + (z ) z = zz + z + z + + zz z z + = 2 |z|2 + ||2

Consider the parallelogram dened by the vectors z and . The lengths of the sides are z and and the lengths of the diagonals are z + and z . We know from geometry that the sum of the squared lengths of the diagonals of a parallelogram is equal to the sum of the squared lengths of the four sides. (See Figure 6.24.)

Integer Exponents

236

z- z z+

2 2 2

(1 + )2

= (2)2

(2)

10 10

e10/4

= 32 e/2 = 32 237

Rational Exponents

Solution 6.23 We substitite the numbers into the equation to obtain an identity. z 2 + 2az + b = 0 a + a2 b a2 2a a2 b

1/2 2

+ 2a a + a2 b

1/2

+b=0

1/2

1/2

+ a2 b 2a2 + 2a a2 b 0=0

+b=0

238

If brute force isnt working, youre not using enough of it. -Tim Mauch In this chapter we introduce the algebra of functions of a complex variable. We will cover the trigonometric and inverse trigonometric functions. The properties of trigonometric functions carry over directly from real-variable theory. However, because of multi-valuedness, the inverse trigonometric functions are signicantly trickier than their real-variable counterparts.

7.1

In this section we introduce curves and regions in the complex plane. This material is necessary for the study of branch points in this chapter and later for contour integration. Curves. Consider two continuous functions, x(t) and y(t), dened on the interval t [t0 . . . t1 ]. The set of points in the complex plane {z(t) = x(t) + y(t) | t [t0 . . . t1 ]} 239

denes a continuous curve or simply a curve. If the endpoints coincide, z (t0 ) = z (t1 ), it is a closed curve. (We assume that t0 = t1 .) If the curve does not intersect itself, then it is said to be a simple curve. If x(t) and y(t) have continuous derivatives and the derivatives do not both vanish at any point1 , then it is a smooth curve. This essentially means that the curve does not have any corners or other nastiness. A continuous curve which is composed of a nite number of smooth curves is called a piecewise smooth curve. We will use the word contour as a synonym for a piecewise smooth curve. See Figure 7.1 for a smooth curve, a piecewise smooth curve, a simple closed curve and a non-simple closed curve.

(a)

(b)

(c)

(d)

Figure 7.1: (a) Smooth Curve, (b) Piecewise Smooth Curve, (c) Simple Closed Curve, (d) Non-Simple Closed Curve Regions. A region R is connected if any two points in R can be connected by a curve which lies entirely in R. A region is simply-connected if every closed curve in R can be continuously shrunk to a point without leaving R. A region which is not simply-connected is said to be multiply-connected region. Another way of dening simply-connected is that a path connecting two points in R can be continuously deformed into any other path that connects those points. Figure 7.2 shows a simply-connected region with two paths which can be continuously deformed into one another and a multiply-connected region with paths which cannot be deformed into one another. Jordan Curve Theorem. A continuous, simple, closed curve is known as a Jordan curve. The Jordan Curve Theorem, which seems intuitively obvious but is dicult to prove, states that a Jordan curve divides the plane into

1

240

Figure 7.2: Simply-connected and multiply-connected regions. a simply-connected, bounded region and an unbounded region. These two regions are called the interior and exterior regions, respectively. The two regions share the curve as a boundary. Points in the interior are said to be inside the curve; points in the exterior are said to be outside the curve.

Traversal of a Contour. Consider a Jordan curve. If you traverse the curve in the positive direction, then the inside is to your left. If you traverse the curve in the opposite direction, then the outside will be to your left and you will go around the curve in the negative direction. For circles, the positive direction is the counter-clockwise direction. The positive direction is consistent with the way angles are measured in a right-handed coordinate system, i.e. for a circle centered on the origin, the positive direction is the direction of increasing angle. For an oriented contour C, we denote the contour with opposite orientation as C.

Boundary of a Region. Consider a simply-connected region. The boundary of the region is traversed in the positive direction if the region is to the left as you walk along the contour. For multiply-connected regions, the boundary may be a set of contours. In this case the boundary is traversed in the positive direction if each of the contours is traversed in the positive direction. When we refer to the boundary of a region we will assume it is given the positive orientation. In Figure 7.3 the boundaries of three regions are traversed in the positive direction. 241

Figure 7.3: Traversing the boundary in the positive direction. Two Interpretations of a Curve. Consider a simple closed curve as depicted in Figure 7.4a. By giving it an orientation, we can make a contour that either encloses the bounded domain Figure 7.4b or the unbounded domain Figure 7.4c. Thus a curve has two interpretations. It can be thought of as enclosing either the points which are inside or the points which are outside.2

7.2

Complex Innity. In real variables, there are only two ways to get to innity. We can either go up or down the number line. Thus signed innity makes sense. By going up or down we respectively approach + and . In the complex plane there are an innite number of ways to approach innity. We stand at the origin, point ourselves in any direction and go straight. We could walk along the positive real axis and approach innity via positive real numbers. We could walk along the positive imaginary axis and approach innity via pure imaginary numbers. We could generalize the real variable notion of signed innity to a complex variable notion of directional innity, but this will not be useful

A farmer wanted to know the most ecient way to build a pen to enclose his sheep, so he consulted an engineer, a physicist and a mathematician. The engineer suggested that he build a circular pen to get the maximum area for any given perimeter. The physicist suggested that he build a fence at innity and then shrink it to t the sheep. The mathematician constructed a little fence around himself and then dened himself to be outside.

2

242

(a)

(b)

(c)

Figure 7.4: Two interpretations of a curve. for our purposes. Instead, we introduce complex innity or the point at innity as the limit of going innitely far along any direction in the complex plane. The complex plane together with the point at innity form the extended complex plane. Stereographic Projection. We can visualize the point at innity with the stereographic projection. We place a unit sphere on top of the complex plane so that the south pole of the sphere is at the origin. Consider a line passing through the north pole and a point z = x + y in the complex plane. In the stereographic projection, the point point z is mapped to the point where the line intersects the sphere. (See Figure 7.5.) Each point z = x + y in the complex plane is mapped to a unique point (X, Y, Z) on the sphere. 4x X= 2 , |z| + 4 4y Y = 2 , |z| + 4 2|z|2 Z= 2 |z| + 4

The origin is mapped to the south pole. The point at innity, |z| = , is mapped to the north pole. In the stereographic projection, circles in the complex plane are mapped to circles on the unit sphere. Figure ?? shows circles along the real and imaginary axes under the mapping. Lines in the complex plane are also mapped to circles on the unit sphere. The right diagram in Figure ?? shows lines emanating from the origin under the mapping. 243

244

245

7.3

We can write a function of a complex variable z as a function of x and y or as a function of r and with the substitutions z = x + y and z = r e , respectively. Then we can separate the real and imaginary components or write the function in modulus-argument form, f (z) = u(x, y) + v(x, y), f (z) = (x, y) e(x,y) , or f (z) = u(r, ) + v(r, ), or f (z) = (r, ) e(r,) .

1 . 1z

Example 7.3.1 Consider the functions f (z) = z, f (z) = z 3 and f (z) = and y and separate them into their real and imaginary components. f (z) = z = x + y f (z) = z 3 = (x + y)3 = x3 + x2 y xy 2 y 3 = x3 xy 2 + x2 y y 3 f (z) =

1 1z 1 = 1 x y 1 1 x + y = 1 x y 1 x + y y 1x = + 2 + y2 (1 x) (1 x)2 + y 2 246

Example 7.3.2 Consider the functions f (z) = z, f (z) = z 3 and f (z) = and and write them in modulus-argument form. f (z) = z = r e f (z) = z 3 = r e = r3 e3 f (z) = = = = = 1 1z 1 1 r e 1 1 1 r e 1re 1 r e 1 r e r e +r2 1 r cos + r sin 1 2r cos + r2

3

1 . 1z

Note that the denominator is real and non-negative. 1 |1 r cos + r sin | e arctan(1r cos ,r sin ) 2 1 2r cos + r 1 = (1 r cos )2 + r2 sin2 e arctan(1r cos ,r sin ) 2 1 2r cos + r 1 = 1 2r cos + r2 cos2 + r2 sin2 e arctan(1r cos ,r sin ) 1 2r cos + r2 1 e arctan(1r cos ,r sin ) = 2 1 2r cos + r = 247

7.4

We cannot directly graph functions of a complex variable as they are mappings from R2 to R2 . To do so would require four dimensions. However, we can can use a surface plot to graph the real part, the imaginary part, the modulus or the argument of a function of a complex variable. Each of these are scalar elds, mappings from R2 to R. Example 7.4.1 Consider the identity function, f (z) = z. In Cartesian coordinates and Cartesian form, the function is f (z) = x + y. The real and imaginary components are u(x, y) = x and v(x, y) = y. (See Figure 7.7.) In modulus

2 1 0 -1 -2 -2

2 -1 1 0 y -1 2-2

2 1 0 -1 -2 -2

x0

-1

x0

2 1 0 y -1 2-2

Figure 7.7: The real and imaginary parts of f (z) = z = x + y argument form the function is f (z) = z = r e = x2 + y 2 e arctan(x,y) . The modulus of f (z) is a single-valued function which is the distance from the origin. The argument of f (z) is a multivalued function. Recall that arctan(x, y) has an innite number of values each of which dier by an integer multiple of 2. A few branches of arg(f (z)) are plotted in Figure 7.8. The modulus and principal argument of f (z) = z are plotted in Figure 7.9. Example 7.4.2 Consider the function f (z) = z 2 . In Cartesian coordinates and separated into its real and imaginary 248

-1 -2 5 0 -5 -2

y 12 0

-1 x

2 1 0 -2

-1 x

2 1 0y -1 2-2

2 0 -2 -2

2 1 0y -1 -1 0 x 1 2 -2

249

components the function is f (z) = z 2 = (x + y)2 = x2 y 2 + 2xy. Figure 7.10 shows surface plots of the real and imaginary parts of z 2 . The magnitude of z 2 is

4 2 0 -2 -4 -2 -1 x 0 1 2 -2 -1

2 1 0 y

5 0 -5 -2 -1 x 0 1 2 -2 -1

2 1 0 y

(z 2 ) and

(z 2 )

|z 2 | = Note that

z 2 z 2 = zz = (x + y)(x y) = x2 + y 2 .

= r2 e2 .

250

8 6 4 2 0 -2 -1 x 0 1 2 -2 -1

5 2 1 0 y 0 -5 -2 -1 x 0 1 2 -2 -1 1 0 y 2

7.5

Trigonometric Functions

The Exponential Function. Consider the exponential function ez . We can use Eulers formula to write ez = ex+y in terms of its real and imaginary parts. ez = ex+y = ex ey = ex cos y + ex sin y From this we see that the exponential function is 2 periodic: ez+2 = ez , and odd periodic: ez+ = ez . Figure 7.12 has surface plots of the real and imaginary parts of ez which show this periodicity. The modulus of ez is a function of x alone. |ez | = ex+y = ex The argument of ez is a function of y alone. arg (ez ) = arg ex+y = {y + 2n | n Z} In Figure 7.13 are plots of | ez | and a branch of arg (ez ). 251

20 10 0 -10 -20 -2 x 0 2 -5

5 0 y

20 10 0 -10 -20 -2 x 0 2 -5

5 0 y

(ez ) and

(ez )

20 15 10 5 0 -2 x0 2 -5

5 0 y

5 0 -5 -2 x0 2 -5

5 0 y

252

Example 7.5.1 Show that the transformation w = ez maps the innite strip, < x < , 0 < y < , onto the upper half-plane. Method 1. Consider the line z = x + c, < x < . Under the transformation, this is mapped to w = ex+c = ec ex , < x < .

This is a ray from the origin to innity in the direction of ec . Thus we see that z = x is mapped to the positive, real w axis, z = x + is mapped to the negative, real axis, and z = x + c, 0 < c < is mapped to a ray with angle c in the upper half-plane. Thus the strip is mapped to the upper half-plane. See Figure 7.14.

3 2 1 -3 -2 -1 1 2 3 -3 -2 -1

3 2 1 1 2 3

Figure 7.14: ez maps horizontal lines to rays. Method 2. Consider the line z = c + y, 0 < y < . Under the transformation, this is mapped to w = ec+y + ec ey , 0 < y < .

This is a semi-circle in the upper half-plane of radius ec . As c , the radius goes to zero. As c , the radius goes to innity. Thus the strip is mapped to the upper half-plane. See Figure 7.15.

253

3 2 1 -1 1 -3 -2 -1

3 2 1 1 2 3

Figure 7.15: ez maps vertical lines to circular arcs. The Sine and Cosine. We can write the sine and cosine in terms of the exponential function. ez + ez cos(z) + sin(z) + cos(z) + sin(z) = 2 2 cos(z) + sin(z) + cos(z) sin(z) = 2 = cos z ez ez cos(z) + sin(z) cos(z) sin(z) = 2 2 cos(z) + sin(z) cos(z) + sin(z) = 2 = sin z We separate the sine and cosine into their real and imaginary parts. cos z = cos x cosh y sin x sinh y sin z = sin x cosh y + cos x sinh y

For xed y, the sine and cosine are oscillatory in x. The amplitude of the oscillations grows with increasing |y|. See Figure 7.16 and Figure 7.17 for plots of the real and imaginary parts of the cosine and sine, respectively. Figure 7.18 shows the modulus of the cosine and the sine. 254

5 2.5 0 -2.5 -5 -2 x 0 2

2 1 0 y -1 -2

5 2.5 0 -2.5 -5 -2 x 0 2

2 1 0 y -1 -2

(cos(z)) and

(cos(z))

5 2.5 0 -2.5 -5 -2 x 0 2

2 1 0 y -1 -2

5 2.5 0 -2.5 -5 -2 x 0 2

2 1 0 y -1 -2

(sin(z)) and

(sin(z))

255

4 2 -2 0 x 2 -2 1

2 0 y -1

4 2 0 -2 0 x 2 -2 -1 1

2 0 y

The Hyperbolic Sine and Cosine. The hyperbolic sine and cosine have the familiar denitions in terms of the exponential function. Thus not surprisingly, we can write the sine in terms of the hyperbolic sine and write the cosine in terms of the hyperbolic cosine. Below is a collection of trigonometric identities. 256

Result 7.5.1 ez = ex (cos y + sin y) ez + ez ez ez cos z = sin z = 2 2 cos z = cos x cosh y sin x sinh y sin z = sin x cosh y + cos x sinh y ez + ez ez ez sinh z = cosh z = 2 2 cosh z = cosh x cos y + sinh x sin y sinh z = sinh x cos y + cosh x sin y sin(z) = sinh z sinh(z) = sin z cos(z) = cosh z cosh(z) = cos z log z = ln |z| + arg(z) = ln |z| + Arg(z) + 2n, n Z

7.6

The Logarithm. The logarithm, log(z), is dened as the inverse of the exponential function ez . The exponential function is many-to-one and thus has a multi-valued inverse. From what we know of many-to-one functions, we conclude that elog z = z, but log (ez ) = z. This is because elog z is single-valued but log (ez ) is not. Because ez is 2 periodic, the logarithm of a number is a set of numbers which dier by integer multiples of 2. For instance, e2n = 1 so that log(1) = {2n : n Z}. The logarithmic function has an innite number of branches. The value of the function on the branches diers by integer multiples of 2. It has singularities at zero and innity. | log(z)| as either z 0 or z . We will derive the formula for the complex variable logarithm. For now, let ln(x) denote the real variable logarithm that is dened for positive real numbers. Consider w = log z. This means that ew = z. We write w = u + v in 257

Cartesian form and z = r e in polar form. eu+v = r e We equate the modulus and argument of this expression. eu = r u = ln r With log z = u + v, we have a formula for the logarithm. log z = ln |z| + arg(z) If we write out the multi-valuedness of the argument function we note that this has the form that we expected. log z = ln |z| + (Arg(z) + 2n), We check that our formula is correct by showing that elog z = z elog z = eln |z|+ arg(z) = eln r++2n = r e = z Note again that log (ez ) = z. log (ez ) = ln | ez | + arg (ez ) = ln (ex ) + arg ex+y = x + (y + 2n) = z + 2n = z The real part of the logarithm is the single-valued ln r; the imaginary part is the multi-valued arg(z). We dene the principal branch of the logarithm Log z to be the branch that satises < (Log z) . For positive, real numbers the principal branch, Log x is real-valued. We can write Log z in terms of the principal argument, Arg z. Log z = ln |z| + Arg(z) See Figure 7.19 for plots of the real and imaginary part of Log z. 258 nZ v = + 2n v = + 2n

1 0 -1 -2 -2 -1 x 0 1 2 -2 -1

2 1 0 y

2 0 -2 -2 -1 x 0 1 2 -2 -1

2 1 0 y

(Log z) and

(Log z).

The Form: ab . Consider ab where a and b are complex and a is nonzero. We dene this expression in terms of the exponential and the logarithm as ab = eb log a . Note that the multi-valuedness of the logarithm may make ab multi-valued. First consider the case that the exponent is an integer. am = em log a = em(Log a+2n) = em Log a e2mn = em Log a Thus we see that am has a single value where m is an integer. Now consider the case that the exponent is a rational number. Let p/q be a rational number in reduced form. ap/q = e q log a = e q (Log a+2n) = e q Log a e2np/q . This expression has q distinct values as e2np/q = e2mp/q if and only if n = m 259 mod q.

p p p

Finally consider the case that the exponent b is an irrational number. ab = eb log a = eb(Log a+2n) = eb Log a e2bn Note that e2bn and e2bm are equal if and only if 2bn and 2bm dier by an integer multiple of 2, which means that bn and bm dier by an integer. This occurs only when n = m. Thus e2bn has a distinct value for each dierent integer n. We conclude that ab has an innite number of values. You may have noticed something a little shy. If b is not an integer and a is any non-zero complex number, then b a is multi-valued. Then why have we been treating eb as single-valued, when it is merely the case a = e? The answer is that in the realm of functions of a complex variable, ez is an abuse of notation. We write ez when we mean exp(z), the single-valued exponential function. Thus when we write ez we do not mean the number e raised to the z power, we mean the exponential function of z. We denote the former scenario as (e)z , which is multi-valued. Logarithmic Identities. Back in high school trigonometry when you thought that the logarithm was only dened for positive real numbers you learned the identity log xa = a log x. This identity doesnt hold when the logarithm is dened for nonzero complex numbers. Consider the logarithm of z a . log z a = Log z a + 2n a log z = a(Log z + 2n) = a Log z + 2an Note that log z a = a log z Furthermore, since Log z a = ln |z a | + Arg (z a ) , a Log z = a ln |z| + a Arg(z) and Arg (z a ) is not necessarily the same as a Arg(z) we see that Log z a = a Log z. 260

Consider the logarithm of a product. log(ab) = ln |ab| + arg(ab) = ln |a| + ln |b| + arg(a) + arg(b) = log a + log b There is not an analogous identity for the principal branch of the logarithm since Arg(ab) is not in general the same as Arg(a) + Arg(b). n Using log(ab) = log(a) + log(b) we can deduce that log (an ) = k=1 log a = n log a, where n is a positive integer. This result is simple, straightforward and wrong. I have led you down the merry path to damnation.3 In fact, log (a2 ) = 2 log a. Just write the multi-valuedness explicitly, log a2 = Log a2 + 2n, You can verify that log 1 a = log a. 2 log a = 2(Log a + 2n) = 2 Log a + 4n.

We can use this and the product identity to expand the logarithm of a quotient. log a = log a log b b

For general values of a, log z a = a log z. However, for some values of a, equality holds. We already know that a = 1 and a = 1 work. To determine if equality holds for other values of a, we explicitly write the multi-valuedness. log z a = log ea log z = a log z + 2k, k Z a log z = a ln |z| + a Arg z + a2m, m Z

3

Dont feel bad if you fell for it. The logarithm is a tricky bastard.

261

We see that log z a = a log z if and only if {am | m Z} = {am + k | k, m Z}. The sets are equal if and only if a = 1/n, n Z . Thus we have the identity: log z 1/n = 1 log z, n n Z

Result 7.6.1 Logarithmic Identities. ab = eb log a elog z = eLog z = z log(ab) = log a + log b log(1/a) = log a log(a/b) = log a log b 1 log z 1/n = log z, n Z n Logarithmic Inequalities. Log(uv) = Log(u) + Log(v) log z a = a log z Log z a = a Log z log ez = z

262

Example 7.6.1 Consider 1 . We apply the denition ab = eb log a . 1 = e log(1) = e(ln(1)+2n) = e2n

2

Thus we see that 1 has an innite number of values, all of which lie on the unit circle |z| = 1 in the complex plane. However, the set 1 is not equal to the set |z| = 1. There are points in the latter which are not in the former. This is analogous to the fact that the rational numbers are dense in the real numbers, but are a subset of the real numbers. Example 7.6.2 We nd the zeros of sin z. sin z = ez ez =0 2 ez = ez e2z = 1 2z mod 2 = 0 z = n, Equivalently, we could use the identity sin z = sin x cosh y + cos x sinh y = 0. This becomes the two equations (for the real and imaginary parts) sin x cosh y = 0 and cos x sinh y = 0. nZ

Since cosh is real-valued and positive for real argument, the rst equation dictates that x = n, n Z. Since cos(n) = (1)n for n Z, the second equation implies that sinh y = 0. For real argument, sinh y is only zero at y = 0. Thus the zeros are z = n, n Z 263

Example 7.6.3 Since we can express sin z in terms of the exponential function, one would expect that we could express the sin1 z in terms of the logarithm.

sin1 z = log z

1 z2

264

Example 7.6.4 Consider the equation sin3 z = 1. sin3 z = 1 sin z = 11/3 ez ez = 11/3 2 ez 2(1)1/3 ez = 0 e2z 2(1)1/3 ez 1 = 0 ez = 2(1)1/3 4(1)2/3 + 4 2 1 (1)2/3 1 12/3

ez = (1)1/3

z = log (1)1/3

Note that there are three sources of multi-valuedness in the expression for z. The two values of the square root are shown explicitly. There are three cube roots of unity. Finally, the logarithm has an innite number of branches. To show this multi-valuedness explicitly, we could write z = Log e2m/3 1 e4m/3 + 2n, m = 0, 1, 2, n = . . . , 1, 0, 1, . . .

Example 7.6.5 Consider the harmless looking equation, z = 1. Before we start with the algebra, note that the right side of the equation is a single number. z is single-valued only when z is an integer. Thus we know that if there are solutions for z, they are integers. We now proceed to solve the equation. z = 1 e/2

z

=1

265

Use the fact that z is an integer. ez/2 = 1 z/2 = 2n, for some n Z z = 4n, nZ Here is a dierent approach. We write down the multi-valued form of z . We solve the equation by requiring that all the values of z are 1. z = 1 ez log = 1 z log = 2n, for some n Z z + 2m = 2n, m Z, for some n Z 2 z + 2mz = 2n, m Z, for some n Z 2 The only solutions that satisfy the above equation are z = 4k, k Z. Now lets consider a slightly dierent problem: 1 z . For what values of z does z have 1 as one of its values. 1 z 1 ez log 1 {ez(/2+2n) | n Z} z(/2 + 2n) = 2m, m, n Z z= 4m , 1 + 4n m, n Z

There are an innite set of rational numbers for which z has 1 as one of its values. For example, 4/5 = 11/5 = 1, e2/5 , e4/5 , e6/5 , e8/5

266

7.7

Riemann Surfaces

Consider the mapping w = log(z). Each nonzero point in the z-plane is mapped to an innite number of points in the w plane. w = {ln |z| + arg(z)} = {ln |z| + (Arg(z) + 2n) | n Z} This multi-valuedness makes it hard to work with the logarithm. We would like to select one of the branches of the logarithm. One way of doing this is to decompose the z-plane into an innite number of sheets. The sheets lie above one another and are labeled with the integers, n Z. (See Figure 7.20.) We label the point z on the nth sheet as (z, n). Now each point (z, n) maps to a single point in the w-plane. For instance, we can make the zeroth sheet map to the principal branch of the logarithm. This would give us the following mapping. log(z, n) = Log z + 2n

2 1 0 -1 -2

Figure 7.20: The z-plane decomposed into at sheets. This is a nice idea, but it has some problems. The mappings are not continuous. Consider the mapping on the zeroth sheet. As we approach the negative real axis from above z is mapped to ln |z| + as we approach from below it is mapped to ln |z| . (Recall Figure 7.19.) The mapping is not continuous across the negative real axis. 267

Lets go back to the regular z-plane for a moment. We start at the point z = 1 and selecting the branch of the logarithm that maps to zero. (log(1) = 2n). We make the logarithm vary continuously as we walk around the origin once in the positive direction and return to the point z = 1. Since the argument of z has increased by 2, the value of the logarithm has changed to 2. If we walk around the origin again we will have log(1) = 4. Our at sheet decomposition of the z-plane does not reect this property. We need a decomposition with a geometry that makes the mapping continuous and connects the various branches of the logarithm. Drawing inspiration from the plot of arg(z), Figure 7.8, we decompose the z-plane into an innite corkscrew with axis at the origin. (See Figure 7.21.) We dene the mapping so that the logarithm varies continuously on this surface. Consider a point z on one of the sheets. The value of the logarithm at that same point on sheet directly above it is 2 more than the original value. We call this surface, the Riemann surface for the logarithm. The mapping from the Riemann surface to the w-plane is continuous and one-to-one.

268

7.8

Branch Points

Example 7.8.1 Consider the function z 1/2 . For each value of z, there are two values of z 1/2 . We write z 1/2 in modulus-argument and Cartesian form. z 1/2 = z 1/2 = |z| e arg(z)/2

Figure 7.22 shows the real and imaginary parts of z 1/2 from three dierent viewpoints. The second and third views are looking down the x axis and y axis, respectively. Consider z 1/2 . This is a double layered sheet which intersects itself on the negative real axis. ( (z 1/2 ) has a similar structure, but intersects itself on the positive real axis.) Lets start at a point on the positive real axis on the lower sheet. If we walk around the origin once and return to the positive real axis, we will be on the upper sheet. If we do this again, we will return to the lower sheet. Suppose we are at a point in the complex plane. We pick one of the two values of z 1/2 . If the function varies continuously as we walk around the origin and back to our starting point, the value of z 1/2 will have changed. We will be on the other branch. Because walking around the point z = 0 takes us to a dierent branch of the function, we refer to z = 0 as a branch point. Now consider the modulus-argument form of z 1/2 : z 1/2 = |z| e arg(z)/2 .

Figure 7.23 shows the modulus and the principal argument of z 1/2 . We see that each time we walk around the origin, the argument of z 1/2 changes by . This means that the value of the function changes by the factor e = 1, i.e. the function changes sign. If we walk around the origin twice, the argument changes by 2, so that the value of the function does not change, e2 = 1. 1/2 z 1/2 is a continuous function except at z = 0. Suppose we start at z = 1 = e0 and the function value (e0 ) = 1. If we follow the rst path in Figure 7.24, the argument of z varies from up to about , down to about and back 4 4 1/2 to 0. The value of the function is still (e0 ) . Now suppose we follow a circular path around the origin in the positive, counter-clockwise, direction. (See the 269

1 0 -1 -2 -1 0 x 1 2 -2

2 1 0 y -1

1 0 -1 -2 -1 0 x 1 2 -2

2 1 0 y -1

2 -1 -201 1 x 0 -1 2

2 -1 -201 1 x 0 -1 2

-2

-1

0 y

-2

-1

0 y

1210-2 -1 y 0 -1 2

1210-2 -1 y 0 -1 2

0 x

-1

-2

0 x

-1

-2

1 0.5 0 -2-1

2 1 0y -1 0 x 1 2 -2

2 0 -2 -2

2 1 0y -1 -1 0 x 1 2 -2

Im(z)

Im(z)

Re(z)

Re(z)

Figure 7.24: A path that does not encircle the origin and a path around the origin

271

second path in Figure 7.24.) The argument of z increases by 2. The value of the function at half turns on the path is e0 e2

1/2

= 1, = e = 1

(e )1/2 = e/2 = ,

1/2

As we return to the point z = 1, the argument of the function has changed by and the value of the function has changed from 1 to 1. If we were to walk along the circular path again, the argument of z would increase by another 2. The argument of the function would increase by another and the value of the function would return to 1. e4

1/2

= e2 = 1

In general, any time we walk around the origin, the value of z 1/2 changes by the factor 1. We call z = 0 a branch point. If we want a single-valued square root, we need something to prevent us from walking around the origin. We achieve this by introducing a branch cut. Suppose we have the complex plane drawn on an innite sheet of paper. With a scissors we cut the paper from the origin to along the real axis. Then if we start at z = e0 , and draw a continuous line without leaving the paper, the argument of z will always be in the range < arg z < . This means that < arg z 1/2 < . No matter what path we follow in this cut plane, z = 1 has argument zero and (1)1/2 = 1. 2 2 By never crossing the negative real axis, we have constructed a single valued branch of the square root function. We call the cut along the negative real axis a branch cut. Example 7.8.2 Consider the logarithmic function log z. For each value of z, there are an innite number of values of log z. We write log z in Cartesian form. log z = ln |z| + arg z Figure 7.25 shows the real and imaginary parts of the logarithm. The real part is single-valued. The imaginary part is multi-valued and has an innite number of branches. The values of the logarithm form an innite-layered sheet. If we start on one of the sheets and walk around the origin once in the positive direction, then the value of the logarithm increases by 2 and we move to the next branch. z = 0 is a branch point of the logarithm. 272

1 0 -1 -2 -2

2 1 -1 x 0 1 0 y -1 2-2

5 0 -5 -2

2 1 -1 x 0 1 0 y -1 2 -2

(log z).

The logarithm is a continuous function except at z = 0. Suppose we start at z = 1 = e0 and the function value log (e0 ) = ln(1) + 0 = 0. If we follow the rst path in Figure 7.24, the argument of z and thus the imaginary part of the logarithm varies from up to about , down to about and back to 0. The value of the logarithm is still 0. 4 4 Now suppose we follow a circular path around the origin in the positive direction. (See the second path in Figure 7.24.) The argument of z increases by 2. The value of the logarithm at half turns on the path is

As we return to the point z = 1, the value of the logarithm has changed by 2. If we were to walk along the circular path again, the argument of z would increase by another 2 and the value of the logarithm would increase by another 2. 273

Result 7.8.1 A point z0 is a branch point of a function f (z) if the function changes value when you walk around the point on any path that encloses no singularities other than the one at z = z0 .

Branch Points at Innity : Mapping Innity to the Origin. Up to this point we have considered only branch points in the nite plane. Now we consider the possibility of a branch point at innity. As a rst method of approaching this problem we map the point at innity to the origin with the transformation = 1/z and examine the point = 0. Example 7.8.3 Again consider the function z 1/2 . Mapping the point at innity to the origin, we have f () = (1/)1/2 = 1/2 . For each value of , there are two values of 1/2 . We write 1/2 in modulus-argument form. 1/2 = 1 || e arg()/2

Like z 1/2 , 1/2 has a double-layered sheet of values. Figure 7.26 shows the modulus and the principal argument of 1/2 . We see that each time we walk around the origin, the argument of 1/2 changes by . This means that the value of the function changes by the factor e = 1, i.e. the function changes sign. If we walk around the origin twice, the argument changes by 2, so that the value of the function does not change, e2 = 1. Since 1/2 has a branch point at zero, we conclude that z 1/2 has a branch point at innity. Example 7.8.4 Again consider the logarithmic function log z. Mapping the point at innity to the origin, we have f () = log(1/) = log(). From Example 7.8.2 we known that log() has a branch point at = 0. Thus log z has a branch point at innity.

Branch Points at Innity : Paths Around Innity. We can also check for a branch point at innity by following a path that encloses the point at innity and no other singularities. Just draw a simple closed curve that 274

3 2.5 2 1.5 1 -2

2 -1 x 1 0 y -1 2 -2

2 0 -2 -2

2 1 -1 x 0 1 0 y -1 2 -2

separates the complex plane into a bounded component that contains all the singularities of the function in the nite plane. Then, depending on orientation, the curve is a contour enclosing all the nite singularities, or the point at innity and no other singularities. Example 7.8.5 Once again consider the function z 1/2 . We know that the function changes value on a curve that goes once around the origin. Such a curve can be considered to be either a path around the origin or a path around innity. In either case the path encloses one singularity. There are branch points at the origin and at innity. Now consider a curve that does not go around the origin. Such a curve can be considered to be either a path around neither of the branch points or both of them. Thus we see that z 1/2 does not change value when we follow a path that encloses neither or both of its branch points.

1/2

1/2

= 1 1 2

1/2

Since f ( 1 ) does not have a branch point at = 0, f (z) does not have a branch point at innity. We could reach the same conclusion by considering a path around innity. Consider a path that circles the branch points at z = 1 once in the positive direction. Such a path circles the point at innity once in the negative direction. In traversing this 1/2 1/2 path, the value of f (z) is multiplied by the factor (e2 ) (e2 ) = e2 = 1. Thus the value of the function does not change. There is no branch point at innity.

Diagnosing Branch Points. We have the denition of a branch point, but we do not have a convenient criterion for determining if a particular function has a branch point. We have seen that log z and z for non-integer have branch points at zero and innity. The inverse trigonometric functions like the arcsine also have branch points, but they can be written in terms of the logarithm and the square root. In fact all the elementary functions with branch points can be written in terms of the functions log z and z . Furthermore, note that the multi-valuedness of z comes from the logarithm, z = e log z . This gives us a way of quickly determining if and where a function may have branch points.

Result 7.8.2 Let f (z) be a single-valued function. Then log(f (z)) and (f (z)) may have branch points only where f (z) is zero or singular.

Example 7.8.7 Consider the functions, 1. (z 2 )

1/2 2

2. z 1/2 3. z 1/2

1. z2

1/2 1/2

1/2

= z 2 = z

Because of the ()1/2 , the function is multi-valued. The only possible branch points are at zero and innity. If

2 2 1/2 (e0 ) = 1, then (e2 ) = (e4 ) = e2 = 1. Thus we see that the function does not change value when we walk around the origin. We can also consider this to be a path around innity. This function is multi-valued, but has no branch points.

3

= z

=z

= z

3 3

3

(e0 )

1/2

= 1, then

1/2 (e2 ) = (e )3 = e3 = 1. Since the function changes value when we walk around the origin, it has a branch point at z = 0. Since this is also a path around innity, there is a branch point there.

1 1 Example 7.8.8 Consider the function f (z) = log z1 . Since z1 is only zero at innity and its only singularity is at z = 1, the only possibilities for branch points are at z = 1 and z = . Since

log

1 z1

= log(z 1)

and log w has branch points at zero and innity, we see that f (z) has branch points at z = 1 and z = . Example 7.8.9 Consider the functions, 277

1. elog z 2. log ez . Are they multi-valued? Do they have branch points? 1. elog z = exp(Log z + 2n) = eLog z e2n = z This function is single-valued. 2. log ez = Log ez +2n = z + 2m This function is multi-valued. It may have branch points only where ez is zero or innite. This only occurs at z = . Thus there are no branch points in the nite plane. The function does not change when traversing a simple closed path. Since this path can be considered to enclose innity, there is no branch point at innity. Consider (f (z)) where f (z) is single-valued and f (z) has either a zero or a singularity at z = z0 . (f (z)) may have a branch point at z = z0 . If f (z) is not a power of z, then it may be dicult to tell if (f (z)) changes value when we walk around z0 . Factor f (z) into f (z) = g(z)h(z) where h(z) is nonzero and nite at z0 . Then g(z) captures the important behavior of f (z) at the z0 . g(z) tells us how fast f (z) vanishes or blows up. Since (f (z)) = (g(z)) (h(z)) and (h(z)) does not have a branch point at z0 , (f (z)) has a branch point at z0 if and only if (g(z)) has a branch point there. Similarly, we can decompose log(f (z)) = log(g(z)h(z)) = log(g(z)) + log(h(z)) to see that log(f (z)) has a branch point at z0 if and only if log(g(z)) has a branch point there.

Result 7.8.3 Consider a single-valued function f (z) that has either a zero or a singularity at z = z0 . Let f (z) = g(z)h(z) where h(z) is nonzero and nite. (f (z)) has a branch point at z = z0 if and only if (g(z)) has a branch point there. log(f (z)) has a branch point at z = z0 if and only if log(g(z)) has a branch point there.

278

Example 7.8.10 Consider the functions, 1. sin z 1/2 2. (sin z)1/2 3. z 1/2 sin z 1/2 4. (sin z 2 )

1/2

Find the branch points and the number of branches. 1. sin z 1/2 = sin z = sin z sin z 1/2 is multi-valued. It has two branches. There may be branch points at zero and innity. Consider the unit 1/2 1/2 circle which is a path around the origin or innity. If sin (e0 ) = sin(1), then sin (e2 ) = sin (e ) = sin(1) = sin(1). There are branch points at the origin and innity. 2. (sin z)1/2 = sin z The function is multi-valued with two branches. The sine vanishes at z = n and is singular at innity. There could be branch points at these locations. Consider the point z = n. We can write sin z = (z n) Note that

sin z zn

sin z z n

is nonzero and has a removable singularity at z = n. sin z cos z = lim = (1)n zn z n zn 1 lim

Since (z n)1/2 has a branch point at z = n, (sin z)1/2 has branch points at z = n. 279

Since the branch points at z = n go all the way out to innity. It is not possible to make a path that encloses innity and no other singularities. The point at innity is a non-isolated singularity. A point can be a branch point only if it is an isolated singularity. 3. z 1/2 sin z 1/2 = z sin z = z sin z = z sin z The function is single-valued. Thus there could be no branch points. 4. sin z 2

1/2

= sin z 2

This function is multi-valued. Since sin z 2 = 0 at z = (n)1/2 , there may be branch points there. First consider the point z = 0. We can write sin z 2 sin z 2 = z 2 2 z 2 2 where sin (z ) /z is nonzero and has a removable singularity at z = 0. sin z 2 2z cos z 2 = lim = 1. z0 z 2 z0 2z lim Since (z 2 ) does not have a branch point at z = 0, (sin z 2 ) Now consider the point z = n. sin z 2 = z n sin (z 2 ) / (z

1/2 1/2

sin z 2 z n

n.

Since (z

n)

1/2

1/2

n, (sin z 2 )

1/2

Thus we that (sin2 ) branch points at z = (n)1/2 for n Z \ {0}. This is the set of numbers: see z has { , 2, . . . , , 2, . . .}. The point at innity is a non-isolated singularity.

Example 7.8.11 Find the branch points of f (z) = z 3 z Introduce branch cuts. If f (2) = We expand f (z). 3 6 then what is f (2)? f (z) = z 1/3 (z 1)1/3 (z + 1)1/3 . There are branch points at z = 1, 0, 1. We consider the point at innity. f 1 = = 1

1/3 1/3

1 1

1/3

1 +1

1/3

1 (1 )1/3 (1 + )1/3

Since f (1/) does not have a branch point at = 0, f (z) does not have a branch point at innity. Consider the three possible branch cuts in Figure 7.27. The rst and the third branch cuts will make the function single valued, the second will not. It is clear that the rst set makes the function single valued since it is not possible to walk around any of the branch points. The second set of branch cuts would allow you to walk around the branch points at z = 1. If you walked around these two once in the positive direction, the value of the function would change by the factor e4/3 . The third set of branch cuts would allow you to walk around all three branch points together. You can verify that if you walk around the three branch points, the value of the function will not change (e6/3 = e2 = 1). Suppose we introduce the third set of branch cuts and are on the branch with f (2) = 3 6. f (2) = 2 e0

1/3

1 e0 281

1/3

3 e0

1/3

Figure 7.27: Three Possible Branch Cuts for f (z) = (z 3 z) The value of f (2) is f (2) = (2 e )1/3 (3 e )1/3 (1 e )1/3 3 3 3 = 2 e/3 3 e/3 1 e/3 3 = 6 e 3 = 6. Example 7.8.12 Find the branch points and number of branches for f (z) = z z . z z = exp z 2 log z

2 2

1/3

There may be branch points at the origin and innity due to the logarithm. Consider walking around a circle of radius r centered at the origin in the positive direction. Since the logarithm changes by 2, the value of f (z) changes by the 2 factor e2r . There are branch points at the origin and innity. The function has an innite number of branches.

282

Example 7.8.13 Construct a branch of f (z) = z 2 + 1 such that f (0) = First we factor f (z). f (z) = (z )1/3 (z + )1/3 There are branch points at z = . Figure 7.28 shows one way to introduce branch cuts.

1/3

1 1 + 3 . 2

1/3

Since it is not possible to walk around any branch point, these cuts make the function single valued. We introduce the coordinates: z = e , z + = r e . f (z) = e r e = 3 r e(+)/3 283

1/3 1/3

The angles must be dened to satisfy this relation. One choice is 5 << , 2 2 3 << . 2 2

Principal Branches. We construct the principal branch of the logarithm by putting a branch cut on the negative real axis choose z = r e , (, ). Thus the principal branch of the logarithm is Log z = ln r + , < < .

Note that the if x is a negative real number, (and thus lies on the branch cut), then Log x is undened. The principal branch of z is z = e Log z . Note that there is a branch cut on the negative real axis. < arg e Log z < is denoted z. The principal branch of z 1/n is denoted n z.

1/2 Example 7.8.14 Construct 1 z 2 , the principal branch of (1 z 2 ) . 1/2 First note that since (1 z 2 ) = (1 z)1/2 (1 + z)1/2 there are branch points at z = 1 and z = 1. The principal branch of the square root has a branch cut on the negative real axis. 1 z 2 is a negative real number for z ( . . . 1) (1 . . . ). Thus we put branch cuts on ( . . . 1] and [1 . . . ).

284

7.9

Exercises

Exercise 7.1 Find the image of the strip 2 < x < 3 under the mapping w = f (z) = z 2 . Does the image constitute a domain? Hint, Solution Exercise 7.2 For a given real number , 0 < 2, nd the image of the sector 0 arg(z) < under the transformation w = z 4 . How large should be so that the w plane is covered exactly once? Hint, Solution

Trigonometric Functions

Exercise 7.3 In Cartesian coordinates, z = x + y, write sin(z) in Cartesian and modulus-argument form. Hint, Solution Exercise 7.4 Show that ez is nonzero for all nite z. Hint, Solution Exercise 7.5 Show that ez When does equality hold? Hint, Solution Exercise 7.6 Solve coth(z) = 1. Hint, Solution 285

2

e|z| .

Exercise 7.7 Solve 2 2z . That is, for what values of z is 2 one of the values of 2z ? Derive this result then verify your answer by evaluating 2z for the solutions that your nd. Hint, Solution Exercise 7.8 Solve 1 1z . That is, for what values of z is 1 one of the values of 1z ? Derive this result then verify your answer by evaluating 1z for the solutions that your nd. Hint, Solution

Logarithmic Identities

Exercise 7.9 Show that if (z1 ) > 0 and (z2 ) > 0 then Log(z1 z2 ) = Log(z1 ) + Log(z2 ) and illustrate that this relationship does not hold in general. Hint, Solution Exercise 7.10 Find the fallacy in the following arguments: 1. log(1) = log

1 1

2. 1 = 11/2 = ((1)(1))1/2 = (1)1/2 (1)1/2 = = 1, therefore, 1 = 1. Hint, Solution Exercise 7.11 Write the following expressions in modulus-argument or Cartesian form. Denote any multi-valuedness explicitly. 22/5 , Hint, Solution 286 31+ ,

1/4

1/4 .

Exercise 7.12 Solve cos z = 69. Hint, Solution Exercise 7.13 Solve cot z = 47. Hint, Solution Exercise 7.14 Determine all values of 1. log() 2. () 3. 3 4. log(log()) and plot them in the complex plane. Hint, Solution Exercise 7.15 Evaluate and plot the following in the complex plane: 1. (cosh())2 2. log 1 1+

Exercise 7.16 Determine all values of and log ((1 + ) ) and plot them in the complex plane. Hint, Solution Exercise 7.17 Find all z for which 1. ez = 2. cos z = sin z 3. tan2 z = 1 Hint, Solution Exercise 7.18 Prove the following identities and identify the branch points of the functions in the extended complex plane. 1. arctan(z) = log 2 1 log 2 +z z 1+z 1z

1/2

2. arctanh(z) =

Exercise 7.19 Identify the branch points of the function f (z) = log z(z + 1) z1

288

and introduce appropriate branch cuts to ensure that the function is single-valued. Hint, Solution Exercise 7.20 Identify all the branch points of the function w = f (z) = z 3 + z 2 6z

1/2

in the extended complex plane. Give a polar description of f (z) and specify branch cuts so that your choice of angles gives a single-valued function that is continuous at z = 1 with f (1) = 6. Sketch the branch cuts in the stereographic projection. Hint, Solution Exercise 7.21 Consider the mapping w = f (z) = z 1/3 and the inverse mapping z = g(w) = w3 . 1. Describe the multiple-valuedness of f (z). 2. Describe a region of the w-plane that g(w) maps one-to-one to the whole z-plane. 3. Describe and attempt to draw a Riemann surface on which f (z) is single-valued and to which g(w) maps oneto-one. Comment on the misleading nature of your picture. 4. Identify the branch points of f (z) and introduce a branch cut to make f (z) single-valued. Hint, Solution Exercise 7.22 Determine the branch points of the function f (z) = z 3 1

1/2

Construct cuts and dene a branch so that z = 0 and z = 1 do not lie on a cut, and such that f (0) = . What is f (1) for this branch? Hint, Solution 289

Exercise 7.23 Determine the branch points of the function w(z) = ((z 1)(z 6)(z + 2))1/2 Construct cuts and dene a branch so that z = 4 does not lie on a cut, and such that w = 6 when z = 4. Hint, Solution Exercise 7.24 Give the number of branches and locations of the branch points for the functions 1. cos z 1/2 2. (z + )z Hint, Solution Exercise 7.25 Find the branch points of the following functions in the extended complex plane, (the complex plane including the point at innity). 1. z 2 + 1 2. z 3 z

1/2

1/2

Introduce branch cuts to make the functions single valued. Hint, Solution 290

Exercise 7.26 Find all branch points and introduce cuts to make the following functions single-valued: For the rst function, choose cuts so that there is no cut within the disk |z| < 2. 1. f (z) = z 3 + 8

1/2

z+1 z1

1/2

Exercise 7.27 Let f (z) have branch points at z = 0 and z = , but nowhere else in the extended complex plane. How does the value and argument of f (z) change while traversing the contour in Figure 7.29? Does the branch cut in Figure 7.29 make the function single-valued?

Figure 7.29: Contour Around the Branch Points and Branch Cut. 291

Hint, Solution Exercise 7.28 Let f (z) be analytic except for no more than a countably innite number of singularities. Suppose that f (z) has only one branch point in the nite complex plane. Does f (z) have a branch point at innity? Now suppose that f (z) has two or more branch points in the nite complex plane. Does f (z) have a branch point at innity? Hint, Solution Exercise 7.29 1/4 Find all branch points of (z 4 + 1) in the extended complex plane. Which of the branch cuts in Figure 7.30 make the function single-valued.

Figure 7.30: Four Candidate Sets of Branch Cuts for (z 4 + 1) Hint, Solution Exercise 7.30 Find the branch points of f (z) = z 2+1 z

1/3

1/4

in the extended complex plane. Introduce branch cuts that make the function single-valued and such that the function 292

is dened on the positive real axis. Dene a branch such that f (1) = 1/ 3 2. Write down an explicit formula for the value of the branch. What is f (1 + )? What is the value of f (z) on either side of the branch cuts? Hint, Solution Exercise 7.31 Find all branch points of f (z) = ((z 1)(z 2)(z 3))1/2 in the extended complex plane. Which of the branch cuts in Figure 7.31 will make the function single-valued. Using the rst set of branch cuts in this gure dene a branch on which f (0) = 6. Write out an explicit formula for the value of the function on this branch.

Figure 7.31: Four Candidate Sets of Branch Cuts for ((z 1)(z 2)(z 3))1/2 Hint, Solution

293

1/3

Construct and dene a branch so that the resulting cut is one line of nite extent and w(2) = 2. What is w(3) for this branch? What are the limiting values of w on either side of the branch cut? Hint, Solution Exercise 7.33 Construct the principal branch of arccos(z). (Arccos(z) has the property that if x [1, 1] then Arccos(x) [0, ]. In particular, Arccos(0) = ). 2 Hint, Solution Exercise 7.34 Find the branch points of z 1/2 1 single-valued. Hint, Solution

1/2

in the nite complex plane. Introduce branch cuts to make the function

Exercise 7.35 For the linkage illustrated in Figure 7.32, use complex variables to outline a scheme for expressing the angular position, velocity and acceleration of arm c in terms of those of arm a. (You neednt work out the equations.) Hint, Solution Exercise 7.36 Find the image of the strip | (z)| < 1 and of the strip 1 < (z) < 2 under the transformations: 1. w = 2z 2 2. w =

z+1 z1

b a l

Figure 7.32: A linkage Exercise 7.37 Locate and classify all the singularities of the following functions: 1. (z + 1)1/2 z+2 1 1+z

2. cos 3.

1 (1 ez )2 In each case discuss the possibility of a singularity at the point . Hint, Solution Exercise 7.38 Describe how the mapping w = sinh(z) transforms the innite strip < x < , 0 < y < into the w-plane. Find cuts in the w-plane which make the mapping continuous both ways. What are the images of the lines (a) y = /4; (b) x = 1? Hint, Solution

295

7.10

Hint 7.1

Hints

Hint 7.2

Trigonometric Functions

Hint 7.3 Recall that sin(z) =

1 2

(ez ez ). Use Result 6.3.1 to convert between Cartesian and modulus-argument form.

Hint 7.4 Write ez in polar form. Hint 7.5 The exponential is an increasing function for real variables. Hint 7.6 Write the hyperbolic cotangent in terms of exponentials. Hint 7.7 Write out the multi-valuedness of 2z . There is a doubly-innite set of solutions to this problem. Hint 7.8 Write out the multi-valuedness of 1z .

Logarithmic Identities

296

Hint 7.9

Hint 7.10 Write out the multi-valuedness of the expressions. Hint 7.11 Do the exponentiations in polar form. Hint 7.12 Write the cosine in terms of exponentials. Multiply by ez to get a quadratic equation for ez . Hint 7.13 Write the cotangent in terms of exponentials. Get a quadratic equation for ez . Hint 7.14

Hint 7.15

Hint 7.16 has an innite number of real, positive values. = e log . log ((1 + ) ) has a doubly innite set of values. log ((1 + ) ) = log(exp( log(1 + ))). Hint 7.17

Hint 7.18

297

Hint 7.19 Hint 7.20 Hint 7.21 Hint 7.22 Hint 7.23 Hint 7.24 Hint 7.25 1/2 1. (z 2 + 1) = (z )1/2 (z + )1/2 2. (z 3 z)

1/2

3. log (z 2 1) = log(z 1) + log(z + 1) 4. log Hint 7.26 Hint 7.27 Reverse the orientation of the contour so that it encircles innity and does not contain any branch points. 298

z+1 z1

= log(z + 1) log(z 1)

Hint 7.28 Consider a contour that encircles all the branch points in the nite complex plane. Reverse the orientation of the contour so that it contains the point at innity and does not contain any branch points in the nite complex plane. Hint 7.29 Factor the polynomial. The argument of z 1/4 changes by /2 on a contour that goes around the origin once in the positive direction. Hint 7.30

Hint 7.31 To dene the branch, dene angles from each of the branch points in the nite complex plane. Hint 7.32

Hint 7.33

Hint 7.34

Hint 7.35

Hint 7.36

Hint 7.37

299

Hint 7.38

300

7.11

Solutions

Solution 7.1 Let w = u + v. We consider the strip 2 < x < 3 as composed of vertical lines. Consider the vertical line: z = c + y, y R for constant c. We nd the image of this line under the mapping. w = (c + y)2 w = c2 y 2 + 2cy u = c2 y 2 , v = 2cy This is a parabola that opens to the left. We can parameterize the curve in terms of v. u = c2 1 2 v , 4c2 vR

The boundaries of the region, x = 2 and x = 3, are respectively mapped to the parabolas: u=4 1 2 v , 16 v R and u = 9 1 2 v , 36 vR

We write the image of the mapping in set notation. w = u + v : v R and 4 1 2 1 v < u < 9 v2 . 16 36

See Figure 7.33 for depictions of the strip and its image under the mapping. The mapping is one-to-one. Since the image of the strip is open and connected, it is a domain. Solution 7.2 We write the mapping w = z 4 in polar coordinates. w = z 4 = r e 301

4

= r4 e4

3 2 1 -1 -1 -2 -3 1 2 3 4 5 -5

10 5 5 -5 -10 10 15

Figure 7.33: The domain 2 < x < 3 and its image under the mapping w = z 2 .

If = /2, the sector will be mapped exactly to the whole complex plane.

Trigonometric Functions

302

Solution 7.3 1 z e ez 2 1 y+x e = eyx 2 1 y e (cos x + sin x) ey (cos x sin x) = 2 1 y e (sin x cos x) + ey (sin x + cos x) = 2 = sin x cosh y + cos x sinh y

sin z =

sin z = = =

sin2 x cosh2 y + cos2 x sinh2 y exp( arctan(sin x cosh y, cos x sinh y)) cosh2 y cos2 x exp( arctan(sin x cosh y, cos x sinh y)) 1 (cosh(2y) cos(2x)) exp( arctan(sin x cosh y, cos x sinh y)) 2

Solution 7.4 In order that ez be zero, the modulus, ex must be zero. Since ex has no nite solutions, ez = 0 has no nite solutions. Solution 7.5 We write the expressions in terms of Cartesian coordinates. ez

2

= e(x+y) = ex = ex

2 y 2 +2xy

2 y 2

303

2

2 +y 2 2 y 2

The exponential function is an increasing function for real variables. Since x2 y 2 x2 + y 2 , ex e|z|

2

ex

2 +y 2

coth(z) = 1 (e + ez ) /2 =1 (ez ez ) /2 ez + ez = ez ez ez = 0

z

There are no solutions. Solution 7.7 We write out the multi-valuedness of 2z . 2 2z eln 2 ez log(2) eln 2 {ez(ln(2)+2n) | n Z} ln 2 z{ln 2 + 2n + 2m | m, n Z} z= ln(2) + 2m | m, n Z ln(2) + 2n

We verify this solution. Consider m and n to be xed integers. We express the multi-valuedness in terms of k. 2(ln(2)+2m)/(ln(2)+2n) = e(ln(2)+2m)/(ln(2)+2n) log(2) = e(ln(2)+2m)/(ln(2)+2n)(ln(2)+2k) 304

For k = n, this has the value, eln(2)+2m = eln(2) = 2. Solution 7.8 We write out the multi-valuedness of 1z . 1 1z 1 ez log(1) 1 {ez2n | n Z} The element corresponding to n = 0 is e0 = 1. Thus 1 1z has the solutions, z C. That is, z may be any complex number. We verify this solution. 1z = ez log(1) = ez2n For n = 0, this has the value 1.

Logarithmic Identities

Solution 7.9 We write the relationship in terms of the natural logarithm and the principal argument. Log(z1 z2 ) = Log(z1 ) + Log(z2 ) ln |z1 z2 | + Arg(z1 z2 ) = ln |z1 | + Arg(z1 ) + ln |z2 | + Arg(z2 ) Arg(z1 z2 ) = Arg(z1 ) + Arg(z2 ) (zk ) > 0 implies that Arg(zk ) (/2 . . . /2). Thus Arg(z1 ) + Arg(z2 ) ( . . . ). In this case the relationship holds. The relationship does not hold in general because Arg(z1 ) + Arg(z2 ) is not necessarily in the interval ( . . . ]. Consider z1 = z2 = 1. Arg((1)(1)) = Arg(1) = 0, Log((1)(1)) = Log(1) = 0, 305 Arg(1) + Arg(1) = 2 Log(1) + Log(1) = 2

Solution 7.10 1. The algebraic manipulations are ne. We write out the multi-valuedness of the logarithms. log(1) = log 1 1 = log(1) log(1) = log(1)

{ + 2n : n Z} = { + 2n : n Z} = {2n : n Z} { + 2n : n Z} = { 2n : n Z} Thus log(1) = log(1). However this does not imply that log(1) = 0. This is because the logarithm is a set-valued function log(1) = log(1) is really saying: { + 2n : n Z} = { 2n : n Z} 2. We consider 1 = 11/2 = ((1)(1))1/2 = (1)1/2 (1)1/2 = = 1. There are three multi-valued expressions above. 11/2 = 1 ((1)(1))1/2 = 1 (1)1/2 (1)1/2 = ()() = 1 Thus we see that the rst and fourth equalities are incorrect. 1 = 11/2 , Solution 7.11 22/5 = 41/5 5 = 411/5 5 = 4 e2n/5 , 306 (1)1/2 (1)1/2 =

n = 0, 1, 2, 3, 4

1/4

1/4

n = 0, 1, 2, 3

307

Solution 7.12

308

z

z = n Solution 7.14 1.

24 ln , 2 23

nZ

log() = ln | | + arg() = ln(1) + + 2n , n Z 2 log() = + 2n, n Z 2 These are equally spaced points in the imaginary axis. See Figure 7.34. 2. () = e log() = e(/2+2n) , 309 nZ

10 -1 -10 1

These are points on the positive real axis with an accumulation point at the origin. See Figure 7.35.

-1

Figure 7.35: () 3. 3 = e log(3) = e(ln(3)+ arg(3)) 310

3 = e(ln(3)+2n) ,

nZ

These points all lie on the circle of radius |e | centered about the origin in the complex plane. See Figure 7.36.

10 5 -10 -5 -5 -10 5 10

Figure 7.36: 3

4. log(log()) = log + 2m , m Z 2 = ln + 2m + Arg + 2m + 2n, m, n Z 2 2 = ln + 2m + sign(1 + 4m) + 2n, m, n Z 2 2 These points all lie in the right half-plane. See Figure 7.37.

311

20 10 1 -10 -20 2 3 4 5

Solution 7.15 1.

e + e (cosh()) = 2 2 = (1)

2

= e2 log(1) = e2(ln(1)++2n) , =e

2(1+2n)

nZ

nZ

These are points on the positive real axis with an accumulation point at the origin. See Figure 7.38. 312

1000

-1

Figure 7.38: The values of (cosh())2 .

2.

log

1 1+

nZ

These are points on a vertical line in the complex plane. See Figure 7.39. 313

10 -1 -10 1

1 1+

3.

arctan(3) =

nZ

These are points on a horizontal line in the complex plane. See Figure 7.40.

314

-5

-1

Figure 7.40: The values of arctan(3). Solution 7.16 = e log() = e(ln ||+ Arg()+2n) , =e

(/2+2n)

nZ

nZ nZ

= e(1/2+2n) ,

These are points on the positive real axis. There is an accumulation point at z = 0. See Figure 7.41. log ((1 + ) ) = log e log(1+) = log(1 + ) + 2n, n Z = (ln |1 + | + Arg(1 + ) + 2m) + 2n, m, n Z 1 = ln 2 + + 2m + 2n, m, n Z 2 4 1 1 = 2 + 2m + ln 2 + 2n , m, n Z 4 2 315

25

50

75 100

-1

Figure 7.41:

Figure 7.42: log ((1 + ) )

20

316

2. We can solve the equation by writing the cosine and sine in terms of the exponential.

3.

318

w

z +z

1/2

z +z

1/2

log 2

+z z

(log( + z) log( z)) 2 There are branch points at z = due to the logarithm terms. We examine the point at innity with the change of variables = 1/z. arctan(z) = arctan(1/) = + 1/ log 2 1/ + 1 arctan(1/) = log 2 1 319

As 0, the argument of the logarithm term tends to 1 The logarithm does not have a branch point at that point. Since arctan(1/) does not have a branch point at = 0, arctan(z) does not have a branch point at innity. 2. w = arctanh(z) z = tanh(w) sinh(w) z= cosh(w) w (e ew ) /2 z= w (e + ew ) /2 z ew +z ew = ew ew (z 1) e2w = z 1 ew = w = log arctanh(z) = z 1 z1 z+1 1z 1 log 2

1/2

1/2

1+z 1z

We identify the branch points of the hyperbolic arctangent. arctanh(z) = 1 (log(1 + z) log(1 z)) 2

There are branch points at z = 1 due to the logarithm terms. We examine the point at innity with the change 320

As 0, the argument of the logarithm term tends to 1 The logarithm does not have a branch point at that point. Since arctanh(1/) does not have a branch point at = 0, arctanh(z) does not have a branch point at innity. 3. w = arccosh(z) z = cosh(w) ew + ew z= 2 e2w 2z ew +1 = 0 ew = z + z 2 1

1/2 1/2

w = log z + z 2 1

1/2

arccosh(z) = log z + (z 1)1/2 (z + 1)1/2 First we consider branch points due to the square root. There are branch points at z = 1 due to the square 1/2 root terms. If we walk around the singularity at z = 1 and no other singularities, the (z 2 1) term changes 321

sign. This will change the value of arccosh(z). The same is true for the point z = 1. The point at innity is 1/2 not a branch point for (z 2 1) . We factor the expression to verify this. z2 1

1/2 1/2

= z2

1/2

1 z 2

1/2

(z 2 ) does not have a branch point at innity. It is multi-valued, but it has no branch points. (1 z 2 ) does not have a branch point at innity, The argument of the square root function tends to unity there. In summary, there are branch points at z = 1 due to the square root. If we walk around either one of the these branch points. the square root term will change value. If we walk around both of these points, the square root term will not change value. Now we consider branch points due to logarithm. There may be branch points where the argument of the logarithm vanishes or tends to innity. We see if the argument of the logarithm vanishes. z + z2 1 =0 2 2 z =z 1 z + (z 2 1) is non-zero and nite everywhere in the complex plane. The only possibility for a branch point 1/2 in the logarithm term is the point at innity. We see if the argument of z + (z 2 1) changes when we walk around innity but no other singularity. We consider a circular path with center at the origin and radius greater than unity. We can either say that this path encloses the two branch points at z = 1 and no other singularities or we can say that this path encloses the point at innity and no other singularities. We examine the value of the argument of the logarithm on this path. z + z2 1 Neither (z 2 ) nor (1 z 2 ) square root in the expression.

1/2 1/2 1/2 1/2 1/2

1/2

= z + z2

1/2

1 z 2

1/2

changes value as we walk the path. Thus we can use the principal branch of the

1/2

z + z2 1

= z z 1 z 2 = z 1 1 z 2 322

1 z 2

As we walk the path around innity, the argument of z changes by 2 while the argument of 1 + 1 z 2 1/2 does not change. Thus the argument of z + (z 2 1) changes by 2 when we go around innity. This makes the value of the logarithm change by 2. There is a branch point at innity. First consider the branch. z 1 1 1 z 2 = z 1 1 z 2 + O z 4 2 1 2 =z z + O z 4 2 1 = z 1 1 + O z 2 2

As we walk the path around innity, the argument of z 1 changes by 2 while the argument of (1 + O (z 2 )) 1/2 does not change. Thus the argument of z + (z 2 1) changes by 2 when we go around innity. This makes the value of the logarithm change by 2. Again we conclude that there is a branch point at innity. For the sole purpose of overkill, lets repeat the above analysis from a geometric viewpoint. Again we consider the possibility of a branch point at innity due to the logarithm. We walk along the circle shown in the rst plot of Figure 7.43. Traversing this path, we go around innity, but no other singularities. We consider the mapping 1/2 w = z + (z 2 1) . Depending on the branch of the square root, the circle is mapped to one one of the contours shown in the second plot. For each branch, the argument of w changes by 2 as we traverse the circle in the 1/2 z-plane. Therefore the value of arccosh(z) = log z + (z 2 1) changes by 2 as we traverse the circle. We again conclude that there is a branch point at innity due to the logarithm. To summarize: There are branch points at z = 1 due to the square root and a branch point at innity due to the logarithm.

323

1 1 -1 1 -1 -1 -1 1

Figure 7.43: The mapping of a circle under w = z + (z 2 1) Solution 7.19 We expand the function to diagnose the branch points in the nite complex plane. f (z) = log z(z + 1) z1 = log(z) + log(z + 1) log(z 1)

1/2

The are branch points at z = 1, 0, 1. Now we examine the point at innity. We make the change of variables z = 1/. f 1 (1/)(1/ + 1) (1/ 1) 1 (1 + = log 1 = log(1 + ) log(1 ) log() = log

log() has a branch point at = 0. The other terms do not have branch points there. Since f (1/) has a branch point at = 0 f (z) has a branch point at innity. Note that in walking around either z = 1 or z = 0 once in the positive direction, the argument of z(z + 1)/(z 1) changes by 2. In walking around z = 1, the argument of z(z + 1)/(z 1) changes by 2. This argument does not 324

change if we walk around both z = 0 and z = 1. Thus we put a branch cut between z = 0 and z = 1. Next be put a branch cut between z = 1 and the point at innity. This prevents us from walking around either of these branch points. These two branch cuts separate the branches of the function. See Figure 7.44

-3

-2

-1

z(z+1) z1

Solution 7.20 First we factor the function. f (z) = (z(z + 3)(z 2))1/2 = z 1/2 (z + 3)1/2 (z 2)1/2 There are branch points at z = 3, 0, 2. Now we examine the point at innity. f 1 = 1 1 +3 1 2

1/2

Since 3/2 has a branch point at = 0 and the rest of the terms are analytic there, f (z) has a branch point at innity. Consider the set of branch cuts in Figure 7.45. These cuts do not permit us to walk around any single branch point. We can only walk around none or all of the branch points, (which is the same thing). The cuts can be used to dene a single-valued branch of the function. 325

3 2 1 -4 -2 -1 -2 -3

Figure 7.45: Branch Cuts for (z 3 + z 2 6z)

1/2

326

Now to dene the branch. We make a choice of angles. z + 3 = r1 e1 , z = r2 e2 , z 2 = r3 e3 , The function is f (z) = r1 e1 r2 e2 r3 e3 We evaluate the function at z = 1. f (1) = (2)(1)(3) e(0++)/2 = 6

1/2

We see that our choice of angles gives us the desired branch. The stereographic projection is the projection from the complex plane onto a unit sphere with south pole at the origin. The point z = x + y is mapped to the point (X, Y, Z) on the sphere with X= 4x , |z|2 + 4 Y = 4y , |z|2 + 4 Z= 2|z|2 . |z|2 + 4

Figure 7.46 rst shows the branch cuts and their stereographic projections and then shows the stereographic projections alone. Solution 7.21 1. For each value of z, f (z) = z 1/3 has three values. f (z) = z 1/3 = 2. g(w) = w3 = |w|3 e3 arg(w) 327 3 z ek2/3 , k = 0, 1, 2

0 2 0 -4 0 -1 2 4 0 4 -4

1/2

1 0 -1

Any sector of the w plane of angle 2/3 maps one-to-one to the whole z-plane. g : r e | r 0, 0 < 0 + 2/3 r3 e3 | r 0, 0 < 0 + 2/3 g : r e | r 0, 0 < 0 + 2/3 r e | r 0, 30 < 30 + 2 g : r e | r 0, 0 < 0 + 2/3 C See Figure 7.47 to see how g(w) maps the sector 0 < 2/3. 3. See Figure 7.48 for a depiction of the Riemann surface for f (z) = z 1/3 . We show two views of the surface and a curve that traces the edge of the shown portion of the surface. The depiction is misleading because the surface is not self-intersecting. We would need four dimensions to properly visualize the this Riemann surface. 4. f (z) = z 1/3 has branch points at z = 0 and z = . Any branch cut which connects these two points would prevent us from walking around the points singly and would thus separate the branches of the function. For example, we could put a branch cut on the negative real axis. Dening the angle < < for the mapping f r e = denes a single-valued branch of the function. 328 3 r e/3

Figure 7.47: The mapping g(w) = w3 maps the sector 0 < 2/3 one-to-one to the whole z-plane.

329

Figure 7.48: Riemann surface for f (z) = z 1/3 . Solution 7.22 The cube roots of 1 are 1, e2/3 , e4/3 = We factor the polynomial. z3 1

1/2

1 + 3 1 3 1, , 2 2

= (z 1)1/2

1 3 z+ 2

1/2

1+ 3 z+ 2

1/2

There are branch points at each of the cube roots of unity. 1 + 3 1 3 z = 1, , 2 2 Now we examine the point at innity. We make the change of variables z = 1/. f (1/) = 1/ 3 1

1/2

= 3/2 1 3

1/2

330

3/2 has a branch point at = 0, while (1 3 ) f (z) has a branch point at innity.

1/2

There are several ways of introducing branch cuts to separate the branches of the function. The easiest approach is to put a branch cut from each of the three branch points in the nite complex plane out to the branch point at innity. See Figure 7.49a. Clearly this makes the function single valued as it is impossible to walk around any of the branch points. Another approach is to have a branch cut from one of the branch points in the nite plane to the branch point at innity and a branch cut connecting the remaining two branch points. See Figure 7.49bcd. Note that in walking around any one of the nite branch points, (in the positive direction), the argument of the function changes by . This means that the value of the function changes by e , which is to say the value of the function changes sign. In walking around any two of the nite branch points, (again in the positive direction), the argument of the function changes by 2. This means that the value of the function changes by e2 , which is to say that the value of the function does not change. This demonstrates that the latter branch cut approach makes the function single-valued.

c

Figure 7.49: (z 3 1)

1/2

Now we construct a branch. We will use the branch cuts in Figure 7.49a. We introduce variables to measure radii 331

and angles from the three nite branch points. z 1 = r1 e1 , 0 < 1 < 2 1 3 2 z+ = r2 e2 , < 2 < 2 3 3 1+ 3 2 z+ = r3 e3 , < 3 < 2 3 3 We compute f (0) to see if it has the desired value. f (z) = r1 r2 r3 e(1 +2 +3 )/2

f (0) = e(/3+/3)/2 = Since it does not have the desired value, we change the range of 1 . z 1 = r1 e1 , f (0) now has the desired value. f (0) = e(3/3+/3)/2 = We compute f (1). f (1) = Solution 7.23 First we factor the function. w(z) = ((z + 2)(z 1)(z 6))1/2 = (z + 2)1/2 (z 1)1/2 (z 6)1/2 There are branch points at z = 2, 1, 6. Now we examine the point at innity. w 1 = 1 +2 1 1 1 6

1/2

2 < 1 < 4

2 e(32/3+2/3)/2 = 2

3/2

2 1+

1 1

6 1

1/2

332

Since 3/2 has a branch point at = 0 and the rest of the terms are analytic there, w(z) has a branch point at innity. Consider the set of branch cuts in Figure 7.50. These cuts let us walk around the branch points at z = 2 and z = 1 together or if we change our perspective, we would be walking around the branch points at z = 6 and z = together. Consider a contour in this cut plane that encircles the branch points at z = 2 and z = 1. Since the argument of (z z0 )1/2 changes by when we walk around z0 , the argument of w(z) changes by 2 when we traverse the contour. Thus the value of the function does not change and it is a valid set of branch cuts.

Figure 7.50: Branch Cuts for ((z + 2)(z 1)(z 6))1/2 Now to dene the branch. We make a choice of angles. z + 2 = r1 e1 , z 1 = r2 e2 , z 6 = r3 e3 , The function is w(z) = r1 e1 r2 e2 r3 e3 We evaluate the function at z = 4. w(4) = (6)(3)(2) e(2n+2n+)/2 = 6 1 = 2 for z (1 . . . 6), 2 = 1 for z (1 . . . 6), 0 < 3 < 2

1/2

r1 r2 r3 e(1 +2 +3 )/2 .

We see that our choice of angles gives us the desired branch. 333

Solution 7.24 1.

This is a single-valued function. There are no branch points. 2. (z + )z = ez log(z+) = ez(ln |z+|+ Arg(z+)+2n) , nZ

There is a branch point at z = . There are an innite number of branches. Solution 7.25 1. f (z) = z 2 + 1

1/2

= (z + )1/2 (z )1/2

We see that there are branch points at z = . To examine the point at innity, we substitute z = 1/ and examine the point = 0. 1

2 1/2

+1

1 ( 2 )1/2

1 + 2

1/2

Since there is no branch point at = 0, f (z) has no branch point at innity. A branch cut connecting z = would make the function single-valued. We could also accomplish this with two branch cuts starting z = and going to innity. 2. f (z) = z 3 z

1/2

3

1 334

1/2

= 3/2 1 2

1/2

There is a branch point at innity. One can make the function single-valued with three branch cuts that start at z = 1, 0, 1 and each go to innity. We can also make the function single-valued with a branch cut that connects two of the points z = 1, 0, 1 and another branch cut that starts at the remaining point and goes to innity. 3. f (z) = log z 2 1 = log(z 1) + log(z + 1) There are branch points at z = 1. f 1 = log 1 1 2 = log 2 + log 1 2

log ( 2 ) has a branch point at = 0. log 2 = ln 2 + arg 2 = ln 2 2 arg() Every time we walk around the point = 0 in the positive direction, the value of the function changes by 4. f (z) has a branch point at innity. We can make the function single-valued by introducing two branch cuts that start at z = 1 and each go to innity. 4. f (z) = log There are branch points at z = 1. f 1 = log 1/ + 1 1/ 1 = log 1+ 1 z+1 z1 = log(z + 1) log(z 1)

We can make the function single-valued by introducing two branch cuts that start at z = 1 and each go to innity. We can also make the function single-valued with a branch cut that connects the points z = 1. This is because log(z + 1) and log(z 1) change by 2 and 2, respectively, when you walk around their branch points once in the positive direction. Solution 7.26 1. The cube roots of 8 are 2, 2 e2/3 , 2 e4/3 = 2, 1 + 3, 1 3 . Thus we can write z3 + 8

1/2

= (z + 2)1/2 z 1 3

1/2

z1+ 3

1/2

There are three branch points on the circle of radius 2. z = 2, 1 + 3, 1 3 . We examine the point at innity. f (1/) = 1/ 3 + 8

1/2

= 3/2 1 + 8 3

1/2

Since f (1/) has a branch point at = 0, f (z) has a branch point at innity. There are several ways of introducing branch cuts outside of the disk |z| < 2 to separate the branches of the function. The easiest approach is to put a branch cut from each of the three branch points in the nite complex plane out to the branch point at innity. See Figure 7.51a. Clearly this makes the function single valued as it is impossible to walk around any of the branch points. Another approach is to have a branch cut from one of the branch points in the nite plane to the branch point at innity and a branch cut connecting the remaining two branch points. See Figure 7.51bcd. Note that in walking around any one of the nite branch points, (in the positive direction), the argument of the function changes by . This means that the value of the function changes by e , which is to say the value of the function changes sign. In walking around any two of the nite 336

c

Figure 7.51: (z 3 + 8)

1/2

branch points, (again in the positive direction), the argument of the function changes by 2. This means that the value of the function changes by e2 , which is to say that the value of the function does not change. This demonstrates that the latter branch cut approach makes the function single-valued. 2. f (z) = log 5 + First we deal with the function g(z) = z+1 z1

1/2

z+1 z1

1/2

1/2

Note that it has branch points at z = 1. Consider the point at innity. g(1/) = 1/ + 1 1/ 1 = 1+ 1

1/2

Since g(1/) has no branch point at = 0, g(z) has no branch point at innity. This means that if we walk around both of the branch points at z = 1, the function does not change value. We can verify this with another method: When we walk around the point z = 1 once in the positive direction, the argument of z + 1 changes by 2, the argument of (z + 1)1/2 changes by and thus the value of (z + 1)1/2 changes by e = 1. When we 337

walk around the point z = 1 once in the positive direction, the argument of z 1 changes by 2, the argument of (z 1)1/2 changes by and thus the value of (z 1)1/2 changes by e = 1. f (z) has branch points 1/2 does at z = 1. When we walk around both points z = 1 once in the positive direction, the value of z+1 z1 not change. Thus we can make the function single-valued with a branch cut which enables us to walk around either none or both of these branch points. We put a branch cut from 1 to 1 on the real axis. f (z) has branch points where 5+ z+1 z1

1/2

is either zero or innite. The only place in the extended complex plane where the expression becomes innite is at z = 1. Now we look for the zeros. 5+ z+1 z1

1/2 1/2

=0

1/2

= 251/2 = 5.

On one branch, (which we call the positive branch), of the function g(z) the quantity 5+ z+1 z1

1/2

338

is always nonzero. On the other (negative) branch of the function, this quantity has a zero at z = 13/12. The logarithm introduces branch points at z = 1 on both the positive and negative branch of g(z). It introduces a branch point at z = 13/12 on the negative branch of g(z). To determine if additional branch cuts are needed to separate the branches, we consider 1/2 z+1 w =5+ z1 and see where the branch cut between 1 gets mapped to in the w plane. We rewrite the mapping. 2 w =5+ 1+ z1 The mapping is the following sequence of simple transformations: (a) z z 1 1 (b) z z (c) z 2z (d) z z + 1 (e) z z 1/2 (f) z z + 5 We show these transformations graphically below.

-1 1 -2 0 -1/2 -1

1/2

z z1

1 z 339

z 2z

z z+1

z z 1/2

z z+5

For the positive branch of g(z), the branch cut is mapped to the line x = 5 and the z plane is mapped to the half-plane x > 5. log(w) has branch points at w = 0 and w = . It is possible to walk around only one of these points in the half-plane x > 5. Thus no additional branch cuts are needed in the positive sheet of g(z). For the negative branch of g(z), the branch cut is mapped to the line x = 5 and the z plane is mapped to the half-plane x < 5. It is possible to walk around either w = 0 or w = alone in this half-plane. Thus we need an additional branch cut. On the negative sheet of g(z), we put a branch cut beteen z = 1 and z = 13/12. This puts a branch cut between w = and w = 0 and thus separates the branches of the logarithm. Figure 7.52 shows the branch cuts in the positive and negative sheets of g(z).

Im(z) g(13/12)=5 Re(z) Im(z) g(13/12)=-5 Re(z)

z+1 1/2 z1

3. The function f (z) = (z + 3)1/2 has a branch point at z = 3. The function is made single-valued by connecting this point and the point at innity with a branch cut. Solution 7.27 Note that the curve with opposite orientation goes around innity in the positive direction and does not enclose any branch points. Thus the value of the function does not change when traversing the curve, (with either orientation, of 340

course). This means that the argument of the function must change my an integer multiple of 2. Since the branch cut only allows us to encircle all three or none of the branch points, it makes the function single valued. Solution 7.28 We suppose that f (z) has only one branch point in the nite complex plane. Consider any contour that encircles this branch point in the positive direction. f (z) changes value if we traverse the contour. If we reverse the orientation of the contour, then it encircles innity in the positive direction, but contains no branch points in the nite complex plane. Since the function changes value when we traverse the contour, we conclude that the point at innity must be a branch point. If f (z) has only a single branch point in the nite complex plane then it must have a branch point at innity. If f (z) has two or more branch points in the nite complex plane then it may or may not have a branch point at innity. This is because the value of the function may or may not change on a contour that encircles all the branch points in the nite complex plane. Solution 7.29 First we factor the function, f (z) = z 4 + 1

1/4

1+ z 2

1/4

1 + 2

1/4

1 2

1/4

1 z 2

1/4

1 . 2

1/4

1 + 4

1/4

1/4 has a removable singularity at the point = 0, but no branch point there. Thus (z 4 + 1) has no branch point at innity. 1/4 Note that the argument of (z 4 z0 ) changes by /2 on a contour that goes around the point z0 once in the 1/4 positive direction. The argument of (z 4 + 1) changes by n/2 on a contour that goes around n of its branch points. 341

1/4

Thus any set of branch cuts that permit you to walk around only one, two or three of the branch points will not make the function single valued. A set of branch cuts that permit us to walk around only zero or all four of the branch points will make the function single-valued. Thus we see that the rst two sets of branch cuts in Figure 7.30 will make the function single-valued, while the remaining two will not. Consider the contour in Figure ??. There are two ways to see that the function does not change value while traversing the contour. The rst is to note that each of the branch points makes the argument of the function increase 1/4 by /2. Thus the argument of (z 4 + 1) changes by 4(/2) = 2 on the contour. This means that the value of the function changes by the factor e2 = 1. If we change the orientation of the contour, then it is a contour that encircles innity once in the positive direction. There are no branch points inside the this contour with opposite orientation. (Recall that the inside of a contour lies to your left as you walk around it.) Since there are no branch points inside this contour, the function cannot change value as we traverse it. Solution 7.30 f (z) = There are branch points at z = 0, . f 1 = 1/ (1/)2 + 1

1/3

z 2+1 z

1/3

1/3 (1 + 2 )1/3

There is a branch point at = 0. f (z) has a branch point at innity. We introduce branch cuts from z = 0 to innity on the negative real axis, from z = to innity on the positive imaginary axis and from z = to innity on the negative imaginary axis. As we cannot walk around any of the branch points, this makes the function single-valued. We dene a branch by dening angles from the branch points. Let z = r e (z ) = s e

< < , 3/2 < < /2, /2 < < 3/2. 342

(z + ) = t e

With f (z) = z 1/3 (z )1/3 (z + )1/3 1 1 = 3 r e/3 e/3 e/3 3 3 s t r ()/3 e = 3 st we have an explicit formula for computing the value of the function for this branch. Now we compute f (1) to see if we chose the correct ranges for the angles. (If not, well just change one of them.) f (1) =

3

1 1 e(0/4(/4))/3 = 3 2 2 2

3

2 e(/40Arctan(2))/3 = 1 5

2 (/4Arctan(2))/3 e 5

Consider the value of the function above and below the branch cut on the negative real axis. Above the branch cut the function is x e()/3 f (x + 0) = 3 2 + 1 x2 + 1 x Note that = so that f (x + 0) = Below the branch cut = and f (x 0) =

3 3

x e/3 = 2+1 x

x 1+ 3 . x2 + 1 2 x 1 3 . x2 + 1 2

For the branch cut along the positive imaginary axis, y e(/2/2/2)/3 (y 1)(y + 1) y e/6 (y 1)(y + 1) 3 y , (y 1)(y + 1) 2

f (y + 0) = = =

f (y 0) =

3

For the branch cut along the negative imaginary axis, y e(/2(/2)(/2))/3 (y + 1)(y 1) y e/6 (y + 1)(y 1) y 3+ , (y + 1)(y 1) 2 344

f (y + 0) = = =

f (y 0) =

3

Solution 7.31 First we factor the function. f (z) = ((z 1)(z 2)(z 3))1/2 = (z 1)1/2 (z 2)1/2 (z 3)1/2 There are branch points at z = 1, 2, 3. Now we examine the point at innity. f 1 = 1 1 1 2 1 3

1/2 1/2

= 3/2

Since 3/2 has a branch point at = 0 and the rest of the terms are analytic there, f (z) has a branch point at innity. The rst two sets of branch cuts in Figure 7.31 do not permit us to walk around any of the branch points, including the point at innity, and thus make the function single-valued. The third set of branch cuts lets us walk around the branch points at z = 1 and z = 2 together or if we change our perspective, we would be walking around the branch points at z = 3 and z = together. Consider a contour in this cut plane that encircles the branch points at z = 1 and z = 2. Since the argument of (z z0 )1/2 changes by when we walk around z0 , the argument of f (z) changes by 2 when we traverse the contour. Thus the value of the function does not change and it is a valid set of branch cuts. Clearly the fourth set of branch cuts does not make the function single-valued as there are contours that encircle the branch point at innity and no other branch points. The other way to see this is to note that the argument of f (z) changes by 3 as we traverse a contour that goes around the branch points at z = 1, 2, 3 once in the positive direction. Now to dene the branch. We make the preliminary choice of angles, z 1 = r1 e1 , z 2 = r2 e , z 3 = r3 e3 , 345

2

The function is f (z) = r1 e1 r2 e2 r3 e3 The value of the function at the origin is f (0) =

1/2

r1 r2 r3 e(1 +2 +3 )/2 .

6 e(3)/2 = 6,

which is not what we wanted. We will change range of one of the angles to get the desired result. z 1 = r1 e1 , z 2 = r2 e2 , z 3 = r3 e , f (0) = Solution 7.32 w= z 2 2 (z + 2)

1/3 3

6 e(5)/2 = 6,

z+

1/3

1/3

(z + 2)1/3

There are branch points at z = 2 and z = 2. If we walk around any one of the branch points once in the positive direction, the argument of w changes by 2/3 and thus the value of the function changes by e2/3 . If we walk around all three branch points then the argument of w changes by 2/3 = 2. The value of the function is unchanged as 3 e2 = 1. Thus the branch cut on the real axis from 2 to 2 makes the function single-valued. Now we dene a branch. Let z 2 = a e , z+ 2 = b e , z + 2 = c e .

We constrain the angles as follows: On the positive real axis, = = . See Figure 7.53. 346

Im(z) c b a Re(z)

1/3

w(2) = 2 =

3

1/3

2

3

2+

1/3

2 2 e0

(2 + 2)1/3 3 4 e0

2 2 e0 3 3 = 2 4 = 2.

2+

Note that we didnt have to choose the angle from each of the branch points as zero. Choosing any integer multiple of 2 would give us the same result. 347

w(3) = 3 = =

3

1/3

2

3

3 + 3

1/3

(3 + 2)1/3 3 1 e/3

7 e 3 = 7 3

3+

2 e/3

2 e/3

abc e(++)/3 .

Consider the interval 2 . . . 2 . As we approach the branch cut from above, the function has the value, w= 3 abc e/3 =

3

2x

x+

2 (x + 2) e/3 .

As we approach the branch cut from below, the function has the value, w= 3 abc e/3 =

3

2x

x+

2 (x + 2) e/3 .

2 . As we approach the branch cut from above, the function has the value,

3

abc e2/3 =

2x

2 (x + 2) e2/3 .

As we approach the branch cut from below, the function has the value, w= 3 abc e2/3 =

3

2x

2 (x + 2) e2/3 .

348

Figure 7.54: The Principal Branch of the arc cosine, Arccos(x). Solution 7.33 Arccos(x) is shown in Figure 7.54 for real variables in the range [1 . . . 1]. First we write arccos(z) in terms of log(z). If cos(w) = z, then w = arccos(z). cos(w) = z ew + ew =z 2 (ew )2 2z ew +1 = 0 ew = z + z 2 1

1/2 1/2

arccos(z) = log z + z 2 1 Since Arccos(0) = , we must nd the branch such that 2 log 0 + 02 1

1/2

1/2

=0

+ 2n = + 2n 2 2

+ 2n = + 2n 2 2 1/2 we must choose the branch of the square root such that (1) = and the branch of the logarithm such that log() = 2 . First we construct the branch of the square root. log() = z2 1

1/2

= (z + 1)1/2 (z 1)1/2

We see that there are branch points at z = 1 and z = 1. In particular we want the Arccos to be dened for z = x, x [1 . . . 1]. Hence we introduce branch cuts on the lines < x 1 and 1 x < . Dene the local coordinates z + 1 = r e , z 1 = e . With the given branch cuts, the angles have the possible ranges {} = {. . . , ( . . . ), ( . . . 3), . . .}, {} = {. . . , (0 . . . 2), (2 . . . 4), . . .}.

Now we choose ranges for and and see if we get the desired branch. If not, we choose a dierent range for one of the angles. First we choose the ranges ( . . . ), If we substitute in z = 0 we get 02 1

1/2

(0 . . . 2).

= 1 e0

1/2

(1 e )1/2 = e0 e/2 =

Thus we see that this choice of angles gives us the desired branch. Now we go back to the expression arccos(z) = log z + z 2 1 350

1/2

= =

=0 =2

1/2

We have already seen that there are branch points at z = 1 and z = 1 because of (z 2 1) . Now we must determine if the logarithm introduces additional branch points. The only possibilities for branch points are where the argument of the logarithm is zero. z + z2 1 =0 2 2 z =z 1 0 = 1 We see that the argument of the logarithm is nonzero and thus there are no additional branch points. Introduce the 1/2 variable, w = z + (z 2 1) . What is the image of the branch cuts in the w plane? We parameterize the branch cut connecting z = 1 and z = + with z = r + 1, r [0 . . . ). w = r + 1 + (r + 1)2 1 =r+1 =r 1r r(r + 2) 1 + 2/r + 1

1/2 1/2

1/2

r 1 + 1 + 2/r + 1 is the interval [1 . . . ); r 1 1 + 2/r + 1 is the interval (0 . . . 1]. Thus we see that this branch cut is mapped to the interval (0 . . . ) in the w plane. Similarly, we could show that the branch cut ( . . .1] 351

in the z plane is mapped to ( . . . 0) in the w plane. In the w plane there is a branch cut along the real w axis from to . Thus cut makes the logarithm single-valued. For the branch of the square root that we chose, all the points in the z plane get mapped to the upper half of the w plane. With the branch cuts we have introduced so far and the chosen branch of the square root we have arccos(0) = log 0 + 02 1 = log = + 2n 2 = + 2n 2 Choosing the n = 0 branch of the logarithm will give us Arccos(z). We see that we can write Arccos(z) = Log z + z 2 1

1/2 1/2

Solution 7.34 1/2 We consider the function f (z) = z 1/2 1 . First note that z 1/2 has a branch point at z = 0. We place a branch cut on the negative real axis to make it single valued. f (z) will have a branch point where z 1/2 1 = 0. This occurs at z = 1 on the branch of z 1/2 on which 11/2 = 1. (11/2 has the value 1 on one branch of z 1/2 and 1 on the other branch.) For this branch we introduce a branch cut connecting z = 1 with the point at innity. (See Figure 7.56.)

1/2 1/2

1 =1

1 =-1

1/2

352

Solution 7.35 The distance between the end of rod a and the end of rod c is b. In the complex plane, these points are a e and l + c e , respectively. We write this out mathematically. l + c e a e = b l + c e a e l + c e a e = b2 1 2 b a2 c 2 l 2 2 l2 + cl e al e +cl e +c2 ac e() al e ac e() +a2 = b2 cl cos ac cos( ) al cos =

This equation relates the two angular positions. One could dierentiate the equation to relate the velocities and accelerations. Solution 7.36 1. Let w = u + v. First we do the strip: | (z)| < 1. Consider the vertical line: z = c + y, y R. This line is mapped to w = 2(c + y)2 w = 2c2 2y 2 + 4cy u = 2c2 2y 2 , v = 4cy This is a parabola that opens to the left. For the case c = 0 it is the negative u axis. We can parametrize the curve in terms of v. 1 u = 2c2 2 v 2 , v R 8c The boundaries of the region are both mapped to the parabolas: 1 u = 2 v2, 8 The image of the mapping is 1 w = u + v : v R and u < 2 v 2 . 8 353 v R.

Note that the mapping is two-to-one. Now we do the strip 1 < (z) < 2. Consider the horizontal line: z = x + c, x R. This line is mapped to w = 2(x + c)2 w = 2x2 2c2 + 4cx u = 2x2 2c2 , v = 4cx This is a parabola that opens upward. We can parametrize the curve in terms of v. u= The boundary (z) = 1 is mapped to 1 u = v 2 2, 8 The boundary (z) = 2 is mapped to u= The image of the mapping is w = u + v : v R and 2. We write the transformation as 1 2 1 v 8 < u < v2 2 . 32 8 1 2 v 8, 32 vR v R. 1 2 v 2c2 , 2 8c vR

z+1 2 =1+ . z1 z1 Thus we see that the transformation is the sequence: (a) translation by 1 (b) inversion 354

(c) magnication by 2 (d) translation by 1 Consider the strip | (z)| < 1. The translation by 1 maps this to 2 < (z) < 0. Now we do the inversion. The left edge, (z) = 0, is mapped to itself. The right edge, (z) = 2, is mapped to the circle |z +1/4| = 1/4. Thus the current image is the left half plane minus a circle: (z) < 0 and The magnication by 2 yields (z) < 0 and The nal step is a translation by 1. (z) < 1 and z 1 1 > . 2 2 z+ 1 1 > . 2 2 z+ 1 1 > . 4 4

Now consider the strip 1 < (z) < 2. The translation by 1 does not change the domain. Now we do the inversion. The bottom edge, (z) = 1, is mapped to the circle |z + /2| = 1/2. The top edge, (z) = 2, is mapped to the circle |z + /4| = 1/4. Thus the current image is the region between two circles: z+ The magnication by 2 yields |z + | < 1 and The nal step is a translation by 1. |z 1 + | < 1 and z1+ 1 > . 2 2 z+ 1 > . 2 2 1 < 2 2 and z+ 1 > . 4 4

355

Solution 7.37 1. There is a simple pole at z = 2. The function has a branch point at z = 1. Since this is the only branch point in the nite complex plane there is also a branch point at innity. We can verify this with the substitution z = 1/. f 1 (1/ + 1)1/2 1/ + 2 1/2 (1 + )1/2 = 1 + 2 =

Since f (1/) has a branch point at = 0, f (z) has a branch point at innity. 2. cos z is an entire function with an essential singularity at innity. Thus f (z) has singularities only where 1/(1 + z) has singularities. 1/(1 + z) has a rst order pole at z = 1. It is analytic everywhere else, including the point at innity. Thus we conclude that f (z) has an essential singularity at z = 1 and is analytic elsewhere. To explicitly show that z = 1 is an essential singularity, we can nd the Laurent series expansion of f (z) about z = 1. cos 1 1+z

=

n=0

3. 1 ez has simple zeros at z = 2n, n Z. Thus f (z) has second order poles at those points. The point at innity is a non-isolated singularity. To justify this: Note that f (z) = 1 (1 ez )2

1 has second order poles at z = 2n, n Z. This means that f (1/) has second order poles at = 2n , n Z. These second order poles get arbitrarily close to = 0. There is no deleted neighborhood around = 0 in which f (1/) is analytic. Thus the point = 0, (z = ), is a non-isolated singularity. There is no Laurent series expansion about the point = 0, (z = ).

356

The point at innity is neither a branch point nor a removable singularity. It is not a pole either. If it were, there would be an n such that limz z n f (z) = const = 0. Since z n f (z) has second order poles in every deleted neighborhood of innity, the above limit does not exist. Thus we conclude that the point at innity is an essential singularity. Solution 7.38 We write sinh z in Cartesian form. w = sinh z = sinh x cos y + cosh x sin y = u + v Consider the line segment x = c, y (0 . . . ). Its image is {sinh c cos y + cosh c sin y | y (0 . . . )}. This is the parametric equation for the upper half of an ellipse. Also note that u and v satisfy the equation for an ellipse. u2 v2 + =1 sinh2 c cosh2 c The ellipse starts at the point (sinh(c), 0), passes through the point (0, cosh(c)) and ends at (sinh(c), 0). As c varies from zero to or from zero to , the semi-ellipses cover the upper half w plane. Thus the mapping is 2-to-1. Consider the innite line y = c, x ( . . . ).Its image is {sinh x cos c + cosh x sin c | x ( . . . )}. This is the parametric equation for the upper half of a hyperbola. Also note that u and v satisfy the equation for a hyperbola. v2 u2 2 + =1 cos c sin2 c As c varies from 0 to /2 or from /2 to , the semi-hyperbola cover the upper half w plane. Thus the mapping is 2-to-1. 357

1/2

z = log w + (w )1/2 (w + )1/2 There are branch points at w = . Since w + (w2 + 1) is nonzero and nite in the nite complex plane, the logarithm does not introduce any branch points in the nite plane. Thus the only branch point in the upper half w plane is at w = . Any branch cut that connects w = with the boundary of (w) > 0 will separate the branches under the inverse mapping. Consider the line y = /4. The image under the mapping is the upper half of the hyperbola 2u2 + 2v 2 = 1. Consider the segment x = 1.The image under the mapping is the upper half of the ellipse u2 v2 + = 1. sinh2 1 cosh2 1

1/2

358

Students need encouragement. So if a student gets an answer right, tell them it was a lucky guess. That way, they develop a good, lucky feeling.1 -Jack Handey

8.1

Complex Derivatives

Functions of a Real Variable. The derivative of a function of a real variable is f (x + x) f (x) d f (x) = lim . x0 dx x If the limit exists then the function is dierentiable at the point x. Note that x can approach zero from above or below. The limit cannot depend on the direction in which x vanishes. Consider f (x) = |x|. The function is not dierentiable at x = 0 since

x0

1

lim +

|0 + x| |0| =1 x

359

and

x0

lim

|0 + x| |0| = 1. x

Analyticity. The complex derivative, (or simply derivative if the context is clear), is dened, f (z + z) f (z) d f (z) = lim . z0 dz z The complex derivative exists if this limit exists. This means that the value of the limit is independent of the manner in which z 0. If the complex derivative exists at a point, then we say that the function is complex dierentiable there. A function of a complex variable is analytic at a point z0 if the complex derivative exists in a neighborhood about that point. The function is analytic in an open set if it has a complex derivative at each point in that set. Note that complex dierentiable has a dierent meaning than analytic. Analyticity refers to the behavior of a function on an open set. A function can be complex dierentiable at isolated points, but the function would not be analytic at those points. Analytic functions are also called regular or holomorphic. If a function is analytic everywhere in the nite complex plane, it is called entire. Example 8.1.1 Consider z n , n Z+ , Is the function dierentiable? Is it analytic? What is the value of the derivative? We determine dierentiability by trying to dierentiate the function. We use the limit denition of dierentiation. We will use Newtons binomial formula to expand (z + z)n . d n (z + z)n z n z = lim z0 dz z z n + nz n1 z + = lim = lim

z0 n(n1) n2 z z 2 2

+ + z n z n

z nz n1 + n(n 1) n2 z z + + z n1 2

z0

= nz n1 360

The derivative exists everywhere. The function is analytic in the whole complex plane so it is entire. The value of the d derivative is dz = nz n1 . Example 8.1.2 We will show that f (z) = z is not dierentiable. Consider its derivative. d f (z + z) f (z) f (z) = lim . z0 dz z

z + z z d z = lim z0 z dz z = lim z0 z First we take z = x and evaluate the limit. x =1 x0 x lim Then we take z = y.

y0

lim

y = 1 y

Since the limit depends on the way that z 0, the function is nowhere dierentiable. Thus the function is not analytic.

Complex Derivatives in Terms of Plane Coordinates. Let z = (, ) be a system of coordinates in the complex plane. (For example, we could have Cartesian coordinates z = (x, y) = x + y or polar coordinates z = (r, ) = r e ). Let f (z) = (, ) be a complex-valued function. (For example we might have a function in the form (x, y) = u(x, y) + v(x, y) or (r, ) = R(r, ) e(r,) .) If f (z) = (, ) is analytic, its complex derivative is 361

equal to the derivative in any direction. In particular, it is equal to the derivatives in the coordinate directions. df f (z + z) f (z) ( + , ) (, ) = = lim = lim 0,=0 0 dz z df f (z + z) f (z) (, + ) (, ) = lim = lim = =0,0 0 dz z

1

Example 8.1.3 Consider the Cartesian coordinates z = x + y. We write the complex derivative as derivatives in the coordinate directions for f (z) = (x, y). df = dz df = dz We write this in operator notation. d = = . dz x y Example 8.1.4 In Example 8.1.1 we showed that z n , n Z+ , is an entire function and that corroborate this by calculating the complex derivative in the Cartesian coordinate directions. d n z = (x + y)n dz x = n(x + y)n1 = nz n1 362

d n z dz

(x + y) x (x + y) y

= x x

= y y

= nz n1 . Now we

Complex Derivatives are Not the Same as Partial Derivatives Recall from calculus that f (x, y) = g(s, t) f g s g t = + x s x t x

Do not make the mistake of using a similar formula for functions of a complex variable. If f (z) = (x, y) then df x y = + . dz x z y z

d This is because the dz operator means The derivative in any direction in the complex plane. Since f (z) is analytic, f (z) is the same no matter in which direction we take the derivative.

Rules of Dierentiation. For an analytic function dened in terms of z we can calculate the complex derivative using all the usual rules of dierentiation that we know from calculus like the product rule, d f (z)g(z) = f (z)g(z) + f (z)g (z), dz or the chain rule, d f (g(z)) = f (g(z))g (z). dz This is because the complex derivative derives its properties from properties of limits, just like its real variable counterpart. 363

Result 8.1.1 The complex derivative is, f (z + z) f (z) d f (z) = lim . z0 dz z The complex derivative is dened if the limit exists and is independent of the manner in which z 0. A function is analytic at a point if the complex derivative exists in a neighborhood of that point. Let z = (, ) dene coordinates in the complex plane. The complex derivative in the coordinate directions is 1 1 d = = . dz In Cartesian coordinates, this is d = = . dz x y In polar coordinates, this is d = e = e dz r r Since the complex derivative is dened with the same limit formula as real derivatives, all the rules from the calculus of functions of a real variable may be used to dierentiate functions of a complex variable.

Example 8.1.5 We have shown that z n , n Z+ , is an entire function. Now we corroborate that 364

d n z dz

= nz n1 by

calculating the complex derivative in the polar coordinate directions. d n z = e rn en dz r = e nrn1 en = nrn1 e(n1) = nz n1

d n z = e rn en dz r n = e r n en r = nrn1 e(n1) = nz n1

Analytic Functions can be Written in Terms of z. Consider an analytic function expressed in terms of x and y, (x, y). We can write as a function of z = x + y and z = x y. f (z, z) = z+z zz , 2 2

We treat z and z as independent variables. We nd the partial derivatives with respect to these variables. x y 1 = + = z z x z y 2 x y 1 = + = z z x z y 2 365 x y + x y

Since is analytic, the complex derivatives in the x and y directions are equal. = x y The partial derivative of f (z, z) with respect to z is zero. f 1 = z 2 + x y =0

Thus f (z, z) has no functional dependence on z, it can be written as a function of z alone. If we were considering an analytic function expressed in polar coordinates (r, ), then we could write it in Cartesian coordinates with the substitutions: r = x2 + y 2 , = arctan(x, y). Thus we could write (r, ) as a function of z alone.

Result 8.1.2 Any analytic function (x, y) or (r, ) can be written as a function of z alone.

8.2

Cauchy-Riemann Equations

If we know that a function is analytic, then we have a convenient way of determining its complex derivative. We just express the complex derivative in terms of the derivative in a coordinate direction. However, we dont have a nice way of determining if a function is analytic. The denition of complex derivative in terms of a limit is cumbersome to work with. In this section we remedy this problem. A necessary condition for analyticity. Consider a function f (z) = (x, y). If f (z) is analytic, the complex derivative is equal to the derivatives in the coordinate directions. We equate the derivatives in the x and y directions to obtain the Cauchy-Riemann equations in Cartesian coordinates. x = y 366 (8.1)

This equation is a necessary condition for the analyticity of f (z). Let (x, y) = u(x, y) + v(x, y) where u and v are real-valued functions. We equate the real and imaginary parts of Equation 8.1 to obtain another form for the Cauchy-Riemann equations in Cartesian coordinates. ux = v y , uy = vx .

Note that this is a necessary and not a sucient condition for analyticity of f (z). That is, u and v may satisfy the Cauchy-Riemann equations but f (z) may not be analytic. At this point, Cauchy-Riemann equations give us an easy test for determining if a function is not analytic. Example 8.2.1 In Example 8.1.2 we showed that z is not analytic using the denition of complex dierentiation. Now we obtain the same result using the Cauchy-Riemann equations. z = x y ux = 1, vy = 1 We see that the rst Cauchy-Riemann equation is not satised; the function is not analytic at any point.

A sucient condition for analyticity. A sucient condition for f (z) = (x, y) to be analytic at a point z0 = (x0 , y0 ) is that the partial derivatives of (x, y) exist and are continuous in some neighborhood of z0 and satisfy the Cauchy-Riemann equations there. If the partial derivatives of exist and are continuous then (x + x, y + y) = (x, y) + xx (x, y) + yy (x, y) + o(x) + o(y). 367

Here the notation o(x) means terms smaller than x. We calculate the derivative of f (z). f (z) = lim f (z + z) f (z) z0 z (x + x, y + y) (x, y) = lim x,y0 x + y (x, y) + xx (x, y) + yy (x, y) + o(x) + o(y) (x, y) = lim x,y0 x + y xx (x, y) + yy (x, y) + o(x) + o(y) = lim x,y0 x + y

Here we use the Cauchy-Riemann equations. (x + y)x (x, y) o(x) + o(y) + lim x,y0 x,y0 x + y x + y = x (x, y) = lim Thus we see that the derivative is well dened. Cauchy-Riemann Equations in General Coordinates Let z = (, ) be a system of coordinates in the complex plane. Let (, ) be a function which we write in terms of these coordinates, A necessary condition for analyticity of (, ) is that the complex derivatives in the coordinate directions exist and are equal. Equating the derivatives in the and directions gives us the Cauchy-Riemann equations.

1

We could separate this into two equations by equating the real and imaginary parts or the modulus and argument. 368

Result 8.2.1 A necessary condition for analyticity of (, ), where z = (, ), at z = z0 is that the Cauchy-Riemann equations are satised in a neighborhood of z = z0 .

1

(We could equate the real and imaginary parts or the modulus and argument of this to obtain two equations.) A sucient condition for analyticity of f (z) is that the Cauchy-Riemann equations hold and the rst partial derivatives of exist and are continuous in a neighborhood of z = z0 . Below are the Cauchy-Riemann equations for various forms of f (z). f (z) = (x, y), f (z) = u(x, y) + v(x, y), f (z) = (r, ), f (z) = u(r, ) + v(r, ), f (z) = R(r, ) e(r,) , f (z) = R(x, y) e(x,y) , x = y ux = vy , uy = vx r = r 1 ur = v , u = rvr r R 1 Rr = , R = Rr r r Rx = Ry , Ry = Rx

Example 8.2.2 Consider the Cauchy-Riemann equations for f (z) = u(r, ) + v(r, ). From Exercise 8.3 we know that the complex derivative in the polar coordinate directions is d = e = e . dz r r 369

We multiply by e and equate the real and imaginary components to obtain the Cauchy-Riemann equations. 1 ur = v , r Example 8.2.3 Consider the exponential function. ez = (x, y) = ex (cos y + sin(y)) We use the Cauchy-Riemann equations to show that the function is entire. x = y e (cos y + sin(y)) = ex ( sin y + cos(y)) ex (cos y + sin(y)) = ex (cos y + sin(y))

x

u = rvr

Since the function satises the Cauchy-Riemann equations and the rst partial derivatives are continuous everywhere in the nite complex plane, the exponential function is entire. Now we nd the value of the complex derivative. d z e = = ex (cos y + sin(y)) = ez dz x The dierentiability of the exponential function implies the dierentiability of the trigonometric functions, as they can be written in terms of the exponential. In Exercise 8.13 you can show that the logarithm log z is dierentiable for z = 0. This implies the dierentiability of z and the inverse trigonometric functions as they can be written in terms of the logarithm. 370

Example 8.2.4 We compute the derivative of z z . d z d z log z e (z ) = dz dz = (1 + log z) ez log z = (1 + log z)z z = z z + z z log z

8.3

Harmonic Functions

A function u is harmonic if its second partial derivatives exist, are continuous and satisfy Laplaces equation u = 0.2 (In Cartesian coordinates the Laplacian is u uxx + uyy .) If f (z) = u + v is an analytic function then u and v are harmonic functions. To see why this is so, we start with the Cauchy-Riemann equations. ux = v y , uy = vx

We dierentiate the rst equation with respect to x and the second with respect to y. (We assume that u and v are twice continuously dierentiable. We will see later that they are innitely dierentiable.) uxx = vxy , Thus we see that u is harmonic. u uxx + uyy = vxy vyx = 0 One can use the same method to show that v = 0.

2

uyy = vyx

The capital Greek letter is used to denote the Laplacian, like u(x, y), and dierentials, like x.

371

If u is harmonic on some simply-connected domain, then there exists a harmonic function v such that f (z) = u + v is analytic in the domain. v is called the harmonic conjugate of u. The harmonic conjugate is unique up to an additive constant. To demonstrate this, let w be another harmonic conjugate of u. Both the pair u and v and the pair u and w satisfy the Cauchy-Riemann equations. ux = v y , We take the dierence of these equations. vx wx = 0, vy wy = 0 uy = vx , ux = wy , uy = wx

On a simply connected domain, the dierence between v and w is thus a constant. To prove the existence of the harmonic conjugate, we rst write v as an integral.

(x,y)

v(x, y) = v (x0 , y0 ) +

(x0 ,y0 )

vx dx + vy dy

On a simply connected domain, the integral is path independent and denes a unique v in terms of vx and vy . We use the Cauchy-Riemann equations to write v in terms of ux and uy .

(x,y)

v(x, y) = v (x0 , y0 ) +

(x0 ,y0 )

uy dx + ux dy

Changing the starting point (x0 , y0 ) changes v by an additive constant. The harmonic conjugate of u to within an additive constant is v(x, y) = uy dx + ux dy. This proves the existence3 of the harmonic conjugate. This is not the formula one would use to construct the harmonic conjugate of a u. One accomplishes this by solving the Cauchy-Riemann equations.

A mathematician returns to his oce to nd that a cigarette tossed in the trash has started a small re. Being calm and a quick thinker he notes that there is a re extinguisher by the window. He then closes the door and walks away because the solution exists.

3

372

Result 8.3.1 If f (z) = u + v is an analytic function then u and v are harmonic functions. That is, the Laplacians of u and v vanish u = v = 0. The Laplacian in Cartesian and polar coordinates is 2 2 = 2 + 2, x y 1 = r r r r 1 2 + 2 2. r

Given a harmonic function u in a simply connected domain, there exists a harmonic function v, (unique up to an additive constant), such that f (z) = u + v is analytic in the domain. One can construct v by solving the Cauchy-Riemann equations.

Example 8.3.1 Is x2 the real part of an analytic function? The Laplacian of x2 is [x2 ] = 2 + 0 x2 is not harmonic and thus is not the real part of an analytic function. Example 8.3.2 Show that u = ex (x sin y y cos y) is harmonic. u = ex sin y ex (x sin y y cos y) x = ex sin y x ex sin y + y ex cos y 2u = ex sin y ex sin y + x ex sin y y ex cos y 2 x = 2 ex sin y + x ex sin y y ex cos y u = ex (x cos y cos y + y sin y) y 373

2u = ex (x sin y + sin y + y cos y + sin y) y 2 = x ex sin y + 2 ex sin y + y ex cos y Thus we see that

2u x2

2u y 2

= 0 and u is harmonic.

Example 8.3.3 Consider u = cos x cosh y. This function is harmonic. uxx + uyy = cos x cosh y + cos x cosh y = 0 Thus it is the real part of an analytic function, f (z). We nd the harmonic conjugate, v, with the Cauchy-Riemann equations. We integrate the rst Cauchy-Riemann equation. vy = ux = sin x cosh y v = sin x sinh y + a(x) Here a(x) is a constant of integration. We substitute this into the second Cauchy-Riemann equation to determine a(x). vx = uy cos x sinh y + a (x) = cos x sinh y a (x) = 0 a(x) = c Here c is a real constant. Thus the harmonic conjugate is v = sin x sinh y + c. The analytic function is f (z) = cos x cosh y sin x sinh y + c We recognize this as f (z) = cos z + c. 374

Example 8.3.4 Here we consider an example that demonstrates the need for a simply connected domain. Consider u = Log r in the multiply connected domain, r > 0. u is harmonic. 1 2 1 r Log r + 2 2 Log r = 0 r r r r We solve the Cauchy-Riemann equations to try to nd the harmonic conjugate. 1 ur = v , u = rvr r vr = 0, v = 1 v =+c Log r = We are able to solve for v, but it is multi-valued. Any single-valued branch of that we choose will not be continuous on the domain. Thus there is no harmonic conjugate of u = Log r for the domain r > 0. If we had instead considered the simply-connected domain r > 0, | arg(z)| < then the harmonic conjugate would be v = Arg(z) + c. The corresponding analytic function is f (z) = Log z + c. Example 8.3.5 Consider u = x3 3xy 2 + x. This function is harmonic. uxx + uyy = 6x 6x = 0 Thus it is the real part of an analytic function, f (z). We nd the harmonic conjugate, v, with the Cauchy-Riemann equations. We integrate the rst Cauchy-Riemann equation. vy = ux = 3x2 3y 2 + 1 v = 3x2 y y 3 + y + a(x) Here a(x) is a constant of integration. We substitute this into the second Cauchy-Riemann equation to determine a(x). vx = uy 6xy + a (x) = 6xy a (x) = 0 a(x) = c 375

Here c is a real constant. The harmonic conjugate is v = 3x2 y y 3 + y + c. The analytic function is f (z) = x3 3xy 2 + x + 3x2 y y 3 + y + c f (z) = x3 + 3x2 y 3xy 2 y 2 + x + y + c f (z) = z 3 + z + c

8.4

Singularities

Any point at which a function is not analytic is called a singularity. In this section we will classify the dierent avors of singularities.

Result 8.4.1 Singularities. If a function is not analytic at a point, then that point is a singular point or a singularity of the function. 8.4.1 Categorization of Singularities

Branch Points. If f (z) has a branch point at z0 , then we cannot dene a branch of f (z) that is continuous in a neighborhood of z0 . Continuity is necessary for analyticity. Thus all branch points are singularities. Since function are discontinuous across branch cuts, all points on a branch cut are singularities. Example 8.4.1 Consider f (z) = z 3/2 . The origin and innity are branch points and are thus singularities of f (z). We choose the branch g(z) = z 3 . All the points on the negative real axis, including the origin, are singularities of g(z).

376

Removable Singularities. Example 8.4.2 Consider sin z . z This function is undened at z = 0 because f (0) is the indeterminate form 0/0. f (z) is analytic everywhere in the nite complex plane except z = 0. Note that the limit as z 0 of f (z) exists. f (z) = cos z sin z = lim =1 z0 z z0 1 lim If we were to ll in the hole in the denition of f (z), we could make it dierentiable at z = 0. Consider the function g(z) =

sin z z

z = 0, z = 0.

We calculate the derivative at z = 0 to verify that g(z) is analytic there. f (0) = lim f (0) f (z) z0 z 1 sin(z)/z = lim z0 z z sin(z) = lim z0 z2 1 cos(z) = lim z0 2z sin(z) = lim z0 2 =0

We call the point at z = 0 a removable singularity of sin(z)/z because we can remove the singularity by dening the value of the function to be its limiting value there. 377

Consider a function f (z) that is analytic in a deleted neighborhood of z = z0 . If f (z) is not analytic at z0 , but limzz0 f (z) exists, then the function has a removable singularity at z0 . The function g(z) = f (z) z = z0 limzz0 f (z) z = z0 g (z0 ) g(z) zz0 z0 z g (z) = lim zz0 1 = lim f (z)

zz0

This limit exists because f (z) is analytic in a deleted neighborhood of z = z0 . Poles. If a function f (z) behaves like c/ (z z0 )n near z = z0 then the function has an nth order pole at that point. More mathematically we say lim (z z0 )n f (z) = c = 0.

zz0

We require the constant c to be nonzero so we know that it is not a pole of lower order. We can denote a removable singularity as a pole of order zero. Another way to say that a function has an nth order pole is that f (z) is not analytic at z = z0 , but (z z0 )n f (z) is either analytic or has a removable singularity at that point. Example 8.4.3 1/ sin (z 2 ) has a second order pole at z = 0 and rst order poles at z = (n)1/2 , n Z . z2 2z = lim 2) z0 sin (z z0 2z cos (z 2 ) lim = lim =1 378

z0

2 cos (z 2 )

2 4z 2 sin (z 2 )

lim

z(n)1/2

Example 8.4.4 e1/z is singular at z = 0. The function is not analytic as limz0 e1/z does not exist. We check if the function has a pole of order n at z = 0. e n e = lim n!

z0

Since the limit does not exist for any value of n, the singularity is not a pole. We could say that e1/z is more singular than any power of 1/z.

Essential Singularities. If a function f (z) is singular at z = z0 , but the singularity is not a branch point, or a pole, the the point is an essential singularity of the function.

The point at innity. We can consider the point at innity z by making the change of variables z = 1/ and considering 0. If f (1/) is analytic at = 0 then f (z) is analytic at innity. We have encountered branch points at innity before (Section 7.8). Assume that f (z) is not analytic at innity. If limz f (z) exists then f (z) has a removable singularity at innity. If limz f (z)/z n = c = 0 then f (z) has an nth order pole at innity. 379

Result 8.4.2 Categorization of Singularities. Consider a function f (z) that has a singularity at the point z = z0 . Singularities come in four avors: Branch Points. Branch points of multi-valued functions are singularities. Removable Singularities. If limzz0 f (z) exists, then z0 is a removable singularity. It is thus named because the singularity could be removed and thus the function made analytic at z0 by redening the value of f (z0 ). Poles. If limzz0 (z z0 )n f (z) = const = 0 then f (z) has an nth order pole at z0 . Essential Singularities. Instead of dening what an essential singularity is, we say what it is not. If z0 neither a branch point, a removable singularity nor a pole, it is an essential singularity.

A pole may be called a non-essential singularity. This is because multiplying the function by an integral power of z z0 will make the function analytic. Then an essential singularity is a point z0 such that there does not exist an n such that (z z0 )n f (z) is analytic there.

8.4.2

Result 8.4.3 Isolated and Non-Isolated Singularities. Suppose f (z) has a singularity at z0 . If there exists a deleted neighborhood of z0 containing no singularities then the point is an isolated singularity. Otherwise it is a non-isolated singularity.

380

If you dont like the abstract notion of a deleted neighborhood, you can work with a deleted circular neighborhood. However, this will require the introduction of more math symbols and a Greek letter. z = z0 is an isolated singularity if there exists a > 0 such that there are no singularities in 0 < |z z0 | < . Example 8.4.5 We classify the singularities of f (z) = z/ sin z. z has a simple zero at z = 0. sin z has simple zeros at z = n. Thus f (z) has a removable singularity at z = 0 and has rst order poles at z = n for n Z . We can corroborate this by taking limits. lim f (z) = lim z 1 = lim =1 z0 sin z z0 cos z (z n)z zn sin z 2z n = lim zn cos z n = (1)n =0

z0

zn

Now to examine the behavior at innity. There is no neighborhood of innity that does not contain rst order poles of f (z). (Another way of saying this is that there does not exist an R such that there are no singularities in R < |z| < .) Thus z = is a non-isolated singularity. We could also determine this by setting = 1/z and examining the point = 0. f (1/) has rst order poles at = 1/(n) for n Z \ {0}. These rst order poles come arbitrarily close to the point = 0 There is no deleted neighborhood of = 0 which does not contain singularities. Thus = 0, and hence z = is a non-isolated singularity. The point at innity is an essential singularity. It is certainly not a branch point or a removable singularity. It is not a pole, because there is no n such that limz z n f (z) = const = 0. z n f (z) has rst order poles in any neighborhood of innity, so this limit does not exist.

381

8.5

Example 8.5.1 We consider 2 dimensional uniform ow in a given direction. The ow corresponds to the complex potential (z) = v0 e0 z, where v0 is the uid speed and 0 is the direction. We nd the velocity potential and stream function . (z) = + = v0 (cos(0 )x + sin(0 )y), = v0 ( sin(0 )x + cos(0 )y) These are plotted in Figure 8.1 for 0 = /6.

1 0 -1 -1 -0.5 0 0.5

1 0 -1 -1 -0.5 0 0.5

Figure 8.1: The velocity potential and stream function for (z) = v0 e0 z. Next we nd the stream lines, = c. v0 ( sin(0 )x + cos(0 )y) = c c y= + tan(0 )x v0 cos(0 ) 382

Figure 8.2: Streamlines for = v0 ( sin(0 )x + cos(0 )y). Figure 8.2 shows how the streamlines go straight along the 0 direction. Next we nd the velocity eld. v= v = x x + y y v = v0 cos(0 ) + v0 sin(0 ) x y The velocity eld is shown in Figure 8.3. Example 8.5.2 Steady, incompressible, inviscid, irrotational ow is governed by the Laplace equation. We consider ow around an innite cylinder of radius a. Because the ow does not vary along the axis of the cylinder, this is a two-dimensional problem. The ow corresponds to the complex potential (z) = v0 z + 383 a2 z .

Figure 8.3: Velocity eld and velocity direction eld for = v0 (cos(0 )x + sin(0 )y).

(z) = + = v0 r + a r

2

cos ,

= v0 r

a2 r

sin

Figure 8.4: The velocity potential and stream function for (z) = v0 z +

a2 z

v0 r r= c

a2 r

sin = c

Figure 8.5 shows how the streamlines go around the cylinder. Next we nd the velocity eld. 385

Figure 8.5: Streamlines for = v0 r v = r + r r v = v0 1 The velocity eld is shown in Figure 8.6. a2 r2 cos v0 1 + r a2 r2 v=

a2 r

sin .

sin

386

a2 r

cos .

8.6

Exercises

Complex Derivatives

Exercise 8.1 Consider two functions f (z) and g(z) analytic at z0 with f (z0 ) = g(z0 ) = 0 and g (z0 ) = 0. 1. Use the denition of the complex derivative to justify LHospitals rule:

zz0

lim

lim

1 + z2 , z 2 + 2z 6 387

Hint, Solution Exercise 8.2 Show that if f (z) is analytic and (x, y) = f (z) is twice continuously dierentiable then f (z) is analytic. Hint, Solution Exercise 8.3 Find the complex derivative in the coordinate directions for f (z) = (r, ). Hint, Solution Exercise 8.4 Show that the following functions are nowhere analytic by checking where the derivative with respect to z exists. 1. sin x cosh y cos x sinh y 2. x2 y 2 + x + (2xy y) Hint, Solution Exercise 8.5 f (z) is analytic for all z, (|z| < ). f (z1 + z2 ) = f (z1 ) f (z2 ) for all z1 and z2 . (This is known as a functional equation). Prove that f (z) = exp (f (0)z). Hint, Solution

Cauchy-Riemann Equations

Exercise 8.6 If f (z) is analytic in a domain and has a constant real part, a constant imaginary part, or a constant modulus, show that f (z) is constant. Hint, Solution

388

4

for z = 0, for z = 0.

satises the Cauchy-Riemann equations everywhere, including at z = 0, but f (z) is not analytic at the origin. Hint, Solution Exercise 8.8 Find the Cauchy-Riemann equations for the following forms. 1. f (z) = R(r, ) e(r,) 2. f (z) = R(x, y) e(x,y) Hint, Solution Exercise 8.9 1. Show that ez is not analytic. 2. f (z) is an analytic function of z. Show that f (z) = f (z) is also an analytic function of z. Hint, Solution Exercise 8.10 1. Determine all points z = x + y where the following functions are dierentiable with respect to z: (a) x3 + y 3 x1 y (b) 2 + y2 (x 1) (x 1)2 + y 2 2. Determine all points z where these functions are analytic. 3. Determine which of the following functions v(x, y) are the imaginary part of an analytic function u(x, y)+v(x, y). For those that are, compute the real part u(x, y) and re-express the answer as an explicit function of z = x + y: 389

x4/3 y 5/3 +x5/3 y 4/3 x2 +y 2

for z = 0, for z = 0.

Show that the Cauchy-Riemann equations hold at z = 0, but that f is not dierentiable at this point. Hint, Solution Exercise 8.12 Consider the complex function f (z) = u + v =

x3 (1+)y 3 (1) x2 +y 2

for z = 0, for z = 0.

Show that the partial derivatives of u and v with respect to x and y exist at z = 0 and that ux = vy and uy = vx there: the Cauchy-Riemann equations are satised at z = 0. On the other hand, show that lim f (z) z

z0

does not exist, that is, f is not complex-dierentiable at z = 0. Hint, Solution Exercise 8.13 Show that the logarithm log z is dierentiable for z = 0. Find the derivative of the logarithm. Hint, Solution

390

Exercise 8.14 Show that the Cauchy-Riemann equations for the analytic function f (z) = u(r, ) + v(r, ) are ur = v /r, Hint, Solution Exercise 8.15 w = u + v is an analytic function of z. (x, y) is an arbitrary smooth function of x and y. When expressed in terms of u and v, (x, y) = (u, v). Show that (w = 0) = u v Deduce dw 2 2 + = 2 2 u v dz Hint, Solution Exercise 8.16 Show that the functions dened by f (z) = log |z|+ arg(z) and f (z) = | arg(z)| < . What are the corresponding derivatives df /dz? Hint, Solution |z| e arg(z)/2 are analytic in the sector |z| > 0, dw dz

1

u = rvr .

x y 2 2 + x2 y 2

Exercise 8.17 Show that the following functions are harmonic. For each one of them nd its harmonic conjugate and form the corresponding holomorphic function. 1. u(x, y) = x Log(r) y arctan(x, y) (r = 0) 2. u(x, y) = arg(z) (| arg(z)| < , r = 0) 3. u(x, y) = rn cos(n) 391

4. u(x, y) = y/r2 (r = 0) Hint, Solution Exercise 8.18 1. Use the Cauchy-Riemann equations to determine where the function f (z) = (x y)2 + 2(x + y) is dierentiable and where it is analytic. 2. Evaluate the derivative of f (z) = ex and describe the domain of analyticity. Hint, Solution Exercise 8.19 Consider the function f (z) = u + v with real and imaginary parts expressed in terms of either x and y or r and . 1. Show that the Cauchy-Riemann equations ux = vy , uy = vx

2 y 2

(cos(2xy) + sin(2xy))

are satised and these partial derivatives are continuous at a point z if and only if the polar form of the CauchyRiemann equations 1 1 ur = v , u = vr r r is satised and these partial derivatives are continuous there. 2. Show that it is easy to verify that Log z is analytic for r > 0 and < < using the polar form of the Cauchy-Riemann equations and that the value of the derivative is easily obtained from a polar dierentiation formula. 392

3. Show that in polar coordinates, Laplaces equation becomes 1 1 rr + r + 2 = 0. r r Hint, Solution Exercise 8.20 Determine which of the following functions are the real parts of an analytic function. 1. u(x, y) = x3 y 3 2. u(x, y) = sinh x cos y + x 3. u(r, ) = rn cos(n) and nd f (z) for those that are. Hint, Solution Exercise 8.21 Consider steady, incompressible, inviscid, irrotational ow governed by the Laplace equation. Determine the form of the velocity potential and stream function contours for the complex potentials 1. (z) = (x, y) + (x, y) = log z + log z 2. (z) = log(z 1) + log(z + 1) Plot and describe the features of the ows you are considering. Hint, Solution Exercise 8.22 1. Classify all the singularities (removable, poles, isolated essential, branch points, non-isolated essential) of the following functions in the extended complex plane z (a) 2 z +1 393

(b)

(d) z sin(1/z)

2. Construct functions that have the following zeros or singularities: (a) a simple zero at z = and an isolated essential singularity at z = 1. (b) a removable singularity at z = 3, a pole of order 6 at z = and an essential singularity at z . Hint, Solution

394

8.7

Hints

Complex Derivatives

Hint 8.1 Hint 8.2 Start with the Cauchy-Riemann equation and then dierentiate with respect to x. Hint 8.3 Read Example 8.1.3 and use Result 8.1.1. Hint 8.4 Use Result 8.1.1. Hint 8.5 Take the logarithm of the equation to get a linear equation.

Cauchy-Riemann Equations

Hint 8.6 Hint 8.7 Hint 8.8 For the rst part use the result of Exercise 8.3. Hint 8.9 Use the Cauchy-Riemann equations. 395

Hint 8.10

Hint 8.11 To evaluate ux (0, 0), etc. use the denition of dierentiation. Try to nd f (z) with the denition of complex dierentiation. Consider z = r e . Hint 8.12 To evaluate ux (0, 0), etc. use the denition of dierentiation. Try to nd f (z) with the denition of complex dierentiation. Consider z = r e . Hint 8.13

Hint 8.14

Hint 8.15

Hint 8.16

Hint 8.17

Hint 8.18

Hint 8.19

396

397

8.8

Solutions

Complex Derivatives

Solution 8.1 1. We consider LHospitals rule.

zz0

lim

We start with the right side and show that it is equal to the left side. First we apply the denition of complex dierentiation. lim 0 f (z0 + )f (z0 ) lim 0 f (z0 + ) f (z0 ) = = g (z0 ) lim0 g(z0 +)g(z0 ) lim0 g(z0 +)

Since both of the limits exist, we may take the limits with

= .

f (z0 ) f (z0 + ) = lim 0 g(z0 + ) g (z0 ) f (z0 ) f (z) = lim zz0 g(z) g (z0 ) This proves LHospitals rule. 2. lim 1 + z2 2z = 6 z 2 + 2z 12z 5 =

z=

1 6

lim

sinh(z) cosh(z) = ez +1 ez

=1

z=

398

Solution 8.2 We start with the Cauchy-Riemann equation and then dierentiate with respect to x. x = y xx = yx We interchange the order of dierentiation. (x )x = (x )y (f )x = (f )y Since f (z) satises the Cauchy-Riemann equation and its partial derivatives exist and are continuous, it is analytic. Solution 8.3 We calculate the complex derivative in the coordinate directions. df = dz df = dz We can write this in operator notation. d = e = e dz r r Solution 8.4 1. Consider f (x, y) = sin x cosh y cos x sinh y. The derivatives in the x and y directions are f = cos x cosh y + sin x sinh y x f = cos x cosh y sin x sinh y y 399 r e r r e

1

= e , r r

= e . r

These derivatives exist and are everywhere continuous. We equate the expressions to get a set of two equations. cos x cosh y = cos x cosh y, sin x sinh y = sin x sinh y cos x cosh y = 0, sin x sinh y = 0 x = + n and (x = m or y = 0) 2 The function may be dierentiable only at the points x= Thus the function is nowhere analytic. 2. Consider f (x, y) = x2 y 2 + x + (2xy y). The derivatives in the x and y directions are f = 2x + 1 + 2y x f = 2y + 2x 1 y These derivatives exist and are everywhere continuous. We equate the expressions to get a set of two equations. 2x + 1 = 2x 1, 2y = 2y. + n, 2 y = 0.

Since this set of equations has no solutions, there are no points at which the function is dierentiable. The function is nowhere analytic. Solution 8.5 f (z1 + z2 ) = f (z1 ) f (z2 ) log (f (z1 + z2 )) = log (f (z1 )) + log (f (z2 )) 400

We dene g(z) = log(f (z)). g (z1 + z2 ) = g (z1 ) + g (z2 ) This is a linear equation which has exactly the solutions: g(z) = cz. Thus f (z) has the solutions: f (z) = ecz , where c is any complex constant. We can write this constant in terms of f (0). We dierentiate the original equation with respect to z1 and then substitute z1 = 0. f (z1 + z2 ) = f (z1 ) f (z2 ) f (z2 ) = f (0)f (z2 ) f (z) = f (0)f (z) We substitute in the form of the solution. c ecz = f (0) ecz c = f (0) Thus we see that f (z) = ef (0)z .

Cauchy-Riemann Equations

Solution 8.6 Constant Real Part. First assume that f (z) has constant real part. We solve the Cauchy-Riemann equations to determine the imaginary part. ux = vy , uy = vx vx = 0, vy = 0 401

We integrate the rst equation to obtain v = a + g(y) where a is a constant and g(y) is an arbitrary function. Then we substitute this into the second equation to determine g(y). g (y) = 0 g(y) = b We see that the imaginary part of f (z) is a constant and conclude that f (z) is constant. Constant Imaginary Part. Next assume that f (z) has constant imaginary part. We solve the Cauchy-Riemann equations to determine the real part. ux = vy , uy = vx ux = 0, uy = 0 We integrate the rst equation to obtain u = a + g(y) where a is a constant and g(y) is an arbitrary function. Then we substitute this into the second equation to determine g(y). g (y) = 0 g(y) = b We see that the real part of f (z) is a constant and conclude that f (z) is constant. Constant Modulus. Finally assume that f (z) has constant modulus. |f (z)| = constant u2 + v 2 = constant u2 + v 2 = constant We dierentiate this equation with respect to x and y. 2uux + 2vvx = 0, ux v x uy v y 402 2uuy + 2vvy = 0 u v =0

This system has non-trivial solutions for u and v only if the matrix is non-singular. (The trivial solution u = v = 0 is the constant function f (z) = 0.) We set the determinant of the matrix to zero. ux v y u y v x = 0 We use the Cauchy-Riemann equations to write this in terms of ux and uy . u2 + u2 = 0 y x ux = uy = 0 Since its partial derivatives vanish, u is a constant. From the Cauchy-Riemann equations we see that the partial derivatives of v vanish as well, so it is constant. We conclude that f (z) is a constant. Constant Modulus. Here is another method for the constant modulus case. We solve the Cauchy-Riemann equations in polar form to determine the argument of f (z) = R(x, y) e(x,y) . Since the function has constant modulus R, its partial derivatives vanish. Rx = Ry , Ry = Rx Ry = 0, Rx = 0 The equations are satised for R = 0. For this case, f (z) = 0. We consider nonzero R. y = 0, x = 0

We see that the argument of f (z) is a constant and conclude that f (z) is constant. Solution 8.7 First we verify that the Cauchy-Riemann equations are satised for z = 0. Note that the form fx = fy will be far more convenient than the form ux = v y , uy = vx 403

for this problem. fx = 4(x + y)5 e(x+y) fy = 4(x + y)5 e(x+y) The Cauchy-Riemann equations are satised for z = 0. Now we consider the point z = 0. fx (0, 0) = lim f (x, 0) f (0, 0) x0 x 4 ex = lim x0 x =0

4 4 4

fy (0, 0) = lim

The Cauchy-Riemann equations are satised for z = 0. f (z) is not analytic at the point z = 0. We show this by calculating the derivative. f (0) = lim

z0

For most values of the limit does not exist. Consider = /4. er f (0) = lim = r0 r e/4 Because the limit does not exist, the function is not dierentiable at z = 0. Recall that satisfying the Cauchy-Riemann equations is a necessary, but not a sucient condition for dierentiability. Solution 8.8 1. We nd the Cauchy-Riemann equations for f (z) = R(r, ) e(r,) . From Exercise 8.3 we know that the complex derivative in the polar coordinate directions is d = e = e . dz r r We equate the derivatives in the two directions. R e = e R e r r (Rr + Rr ) e = (R + R ) e r e We divide by e and equate the real and imaginary components to obtain the Cauchy-Riemann equations. Rr = 2. We nd the Cauchy-Riemann equations for f (z) = R(x, y) e(x,y) . 405 R , r 1 R = Rr r

4

We equate the derivatives in the x and y directions. R e = R e x y (Rx + Ry ) e = (Rx + Ry ) e We divide by e and equate the real and imaginary components to obtain the Cauchy-Riemann equations. Rx = Ry , Ry = Rx

Solution 8.9 1. A necessary condition for analyticity in an open set is that the Cauchy-Riemann equations are satised in that set. We write ez in Cartesian form. ez = exy = ex cos y ex sin y. Now we determine where u = ex cos y and v = ex sin y satisfy the Cauchy-Riemann equations. ux = vy , uy = vx x e cos y = e cos y, ex sin y = ex sin y cos y = 0, sin y = 0 y = n y = + m, 2

x

Thus we see that the Cauchy-Riemann equations are not satised anywhere. ez is nowhere analytic. 2. Since f (z) = u + v is analytic, u and v satisfy the Cauchy-Riemann equations and their rst partial derivatives are continuous. f (z) = f (z) = u(x, y) + v(x, y) = u(x, y) v(x, y) 406

We dene f (z) (x, y) + (x, y) = u(x, y) v(x, y). Now we see if and satisfy the Cauchy-Riemann equations. x = y , (u(x, y))x = (v(x, y))y , ux (x, y) = vy (x, y), ux = vy , y = x (u(x, y))y = (v(x, y))x uy (x, y) = vx (x, y) uy = vx

Thus we see that the Cauchy-Riemann equations for and are satised if and only if the Cauchy-Riemann equations for u and v are satised. The continuity of the rst partial derivatives of u and v implies the same of and . Thus f (z) is analytic. Solution 8.10 1. The necessary condition for a function f (z) = u + v to be dierentiable at a point is that the Cauchy-Riemann equations hold and the rst partial derivatives of u and v are continuous at that point. (a) f (z) = x3 + y 3 + 0 The Cauchy-Riemann equations are ux = vy and uy = vx 3x2 = 0 and 3y 2 = 0 x = 0 and y = 0 The rst partial derivatives are continuous. Thus we see that the function is dierentiable only at the point z = 0. (b) f (z) = x1 y 2 + y2 (x 1) (x 1)2 + y 2 407

The Cauchy-Riemann equations are ux = vy and uy = vx (x 1) + y (x 1)2 + y 2 2(x 1)y 2(x 1)y = and = ((x 1)2 + y 2 )2 ((x 1)2 + y 2 )2 ((x 1)2 + y 2 )2 ((x 1)2 + y 2 )2

2 2

The Cauchy-Riemann equations are each identities. The rst partial derivatives are continuous everywhere except the point x = 1, y = 0. Thus the function is dierentiable everywhere except z = 1. 2. (a) The function is not dierentiable in any open set. Thus the function is nowhere analytic. (b) The function is dierentiable everywhere except z = 1. Thus the function is analytic everywhere except z = 1. 3. (a) First we determine if the function is harmonic. v = x2 y 2 vxx + vyy = 0 22=0 The function is harmonic in the complex plane and this is the imaginary part of some analytic function. By inspection, we see that this function is z 2 + c = 2xy + c + x2 y 2 , where c is a real constant. We can also nd the function by solving the Cauchy-Riemann equations. ux = vy and uy = vx ux = 2y and uy = 2x We integrate the rst equation. u = 2xy + g(y) 408

Here g(y) is a function of integration. We substitute this into the second Cauchy-Riemann equation to determine g(y). uy = 2x 2x + g (y) = 2x g (y) = 0 g(y) = c u = 2xy + c f (z) = 2xy + c + x2 y 2 f (z) = z 2 + c (b) First we determine if the function is harmonic. v = 3x2 y vxx + vyy = 6y The function is not harmonic. It is not the imaginary part of some analytic function. Solution 8.11 We write the real and imaginary parts of f (z) = u + v.

x4/3 y 5/3 x2 +y 2

u=

for z = 0, , for z = 0.

v=

x5/3 y 4/3 x2 +y 2

for z = 0, for z = 0.

We calculate the partial derivatives of u and v at the point x = y = 0 using the denition of dierentiation. ux (0, 0) = lim u(x, 0) u(0, 0) 00 = lim =0 x0 x0 x x v(x, 0) v(0, 0) 00 = lim =0 vx (0, 0) = lim x0 x0 x x u(0, y) u(0, 0) 00 uy (0, 0) = lim = lim =0 y0 y0 y y v(0, y) v(0, 0) 00 vy (0, 0) = lim = lim =0 y0 y0 y y

Since ux (0, 0) = uy (0, 0) = vx (0, 0) = vy (0, 0) = 0 the Cauchy-Riemann equations are satised. f (z) is not analytic at the point z = 0. We show this by calculating the derivative there. f (0) = lim f (z) f (z) f (0) = lim z0 z z0 z

We let z = r e , that is, we approach the origin at an angle of . Then x = r cos and y = r sin . f (0) = lim = f r e r0 r e

+ cos sin r0 e The value of the limit depends on and is not a constant. Thus this limit does not exist. The function is not dierentiable at z = 0. = lim Solution 8.12

x3 y 3 x2 +y 2

r 4/3 cos4/3 r5/3 sin5/3 +r 5/3 cos5/3 r4/3 sin4/3 r2 lim r0 r e 5/3 4/3 4/3 5/3

cos

sin

u=

v=

x3 +y 3 x2 +y 2

for z = 0, for z = 0.

The Cauchy-Riemann equations are ux = v y , uy = vx . The partial derivatives of u and v at the point x = y = 0 are, ux (0, 0) = lim u(x, 0) u(0, 0) x0 x x 0 = lim x0 x = 1, v(x, 0) v(0, 0) x0 x x 0 = lim x0 x = 1, u(0, y) u(0, 0) y0 y y 0 = lim y0 y = 1, v(0, y) v(0, 0) y0 y y 0 = lim y0 y = 1. 411

vx (0, 0) = lim

uy (0, 0) = lim

vy (0, 0) = lim

We see that the Cauchy-Riemann equations are satised at x = y = 0 f (z) is not analytic at the point z = 0. We show this by calculating the derivative. f (0) = lim f (z) f (0) f (z) = lim z0 z z

z0

Let z = r e , that is, we approach the origin at an angle of . Then x = r cos and y = r sin . f (0) = lim = f r e r0 r e

(1+)r3 cos3 (1)r3 sin3 r2 lim r0 r e 3 3

= lim

(1 + ) cos (1 ) sin r0 e

The value of the limit depends on and is not a constant. Thus this limit does not exist. The function is not dierentiable at z = 0. Recall that satisfying the Cauchy-Riemann equations is a necessary, but not a sucient condition for dierentiability. Solution 8.13 We show that the logarithm log z = (r, ) = Log r + satises the Cauchy-Riemann equations. r = r 1 = r r 1 1 = r r Since the logarithm satises the Cauchy-Riemann equations and the rst partial derivatives are continuous for z = 0, the logarithm is analytic for z = 0. 412

Now we compute the derivative. d log z = e (Log r + ) dz r 1 = e r 1 = z Solution 8.14 The complex derivative in the coordinate directions is d = e = e . dz r r We substitute f = u + v into this identity to obtain the Cauchy-Riemann equation in polar coordinates. f f = e r r f f = r r ur + vr = (u + v ) r e We equate the real and imaginary parts. 1 ur = v , r 1 ur = v , r 1 vr = u r u = rvr

Solution 8.15 Since w is analytic, u and v satisfy the Cauchy-Riemann equations, ux = vy and uy = vx . 413

Using the chain rule we can write the derivatives with respect to x and y in terms of u and v. = ux + vx x u v = uy + vy y u v Now we examine x y . x y = ux u + vx v (uy u + vy v ) x y = (ux uy ) u + (vx vy ) v x y = (ux uy ) u (vy + vx ) v We use the Cauchy-Riemann equations to write uy and vy in terms of ux and vx . x y = (ux + vx ) u (ux + vx ) v Recall that w = ux + vx = vy uy . x y = Thus we see that, = u v We write this in operator notation. = u v dw dz 414

1

dw (u v ) dz

dw dz

x y

x y

The complex conjugate of this relation is + = u v Now we apply both these operators to = . + u v u v = dw dz

1

dw dz

+ x y

+ x y

dw dz

x y

2 2 2 2 + + 2 u2 uv vu v = dw dz

1

dw dz

1

+ x y

x y

dw dz

+ x y

x y

1

dw dz

2

2 2 + 2 x2 y

2 2 + x2 y 2

f (z) = log |z| + arg(z) = log r + . The Cauchy-Riemann equations in polar coordinates are 1 ur = v , r 415 u = rvr .

We calculate the derivatives. 1 1 1 ur = , v = r r r u = 0, rvr = 0 Since the Cauchy-Riemann equations are satised and the partial derivatives are continuous, f (z) is analytic in |z| > 0, | arg(z)| < . The complex derivative in terms of polar coordinates is d = e = e . dz r r We use this to dierentiate f (z). df 1 1 = e [log r + ] = e = dz r r z 2. Next we consider f (z) = |z| e arg(z)/2 = R , r r e/2 .

The Cauchy-Riemann equations for polar coordinates and the polar form f (z) = R(r, ) e(r,) are Rr = We calculate the derivatives for R = 1 R = Rr . r R 1 = r 2 r Rr = 0

r, = /2. 1 Rr = , 2 r 1 R = 0, r

Since the Cauchy-Riemann equations are satised and the partial derivatives are continuous, f (z) is analytic in |z| > 0, | arg(z)| < . The complex derivative in terms of polar coordinates is d = e = e . dz r r 416

We use this to dierentiate f (z). df 1 1 = e [ r e/2 ] = /2 = dz r 2e r 2 z Solution 8.17 1. We consider the function u = x Log r y arctan(x, y) = r cos Log r r sin We compute the Laplacian. u = u 1 2u 1 r + 2 2 r r r r 1 1 = (cos (r + r Log r) sin ) + 2 (r( sin 2 cos ) r cos Log r) r r r 1 1 = (2 cos + cos Log r sin ) + ( sin 2 cos cos Log r) r r =0

The function u is harmonic. We nd the harmonic conjugate v by solving the Cauchy-Riemann equations. 1 vr = u , v = rur r vr = sin (1 + Log r) + cos , v = r (cos (1 + Log r) sin ) We integrate the rst equation with respect to r to determine v to within the constant of integration g(). v = r(sin Log r + cos ) + g() We dierentiate this expression with respect to . v = r (cos (1 + Log r) sin ) + g () 417

We compare this to the second Cauchy-Riemann equation to see that g () = 0. Thus g() = c. We have determined the harmonic conjugate. v = r(sin Log r + cos ) + c The corresponding analytic function is f (z) = r cos Log r r sin + (r sin Log r + r cos + c). On the positive real axis, ( = 0), the function has the value f (z = r) = r Log r + c. We use analytic continuation to determine the function in the complex plane. f (z) = z log z + c 2. We consider the function u = Arg(z) = . We compute the Laplacian. u = 1 r r r u r + 1 2u =0 r2 2

The function u is harmonic. We nd the harmonic conjugate v by solving the Cauchy-Riemann equations. 1 v r = u , r 1 vr = , r v = rur v = 0

We integrate the rst equation with respect to r to determine v to within the constant of integration g(). v = Log r + g() 418

We dierentiate this expression with respect to . v = g () We compare this to the second Cauchy-Riemann equation to see that g () = 0. Thus g() = c. We have determined the harmonic conjugate. v = Log r + c The corresponding analytic function is f (z) = Log r + c On the positive real axis, ( = 0), the function has the value f (z = r) = Log r + c We use analytic continuation to determine the function in the complex plane. f (z) = log z + c 3. We consider the function u = rn cos(n) We compute the Laplacian. u = 1 u 1 2u r + 2 2 r r r r 1 = (nrn cos(n)) n2 rn2 cos(n) r r = n2 rn2 cos(n) n2 rn2 cos(n) =0 419

The function u is harmonic. We nd the harmonic conjugate v by solving the Cauchy-Riemann equations. 1 v r = u , r vr = nrn1 sin(n), v = rur v = nrn cos(n)

We integrate the rst equation with respect to r to determine v to within the constant of integration g(). v = rn sin(n) + g() We dierentiate this expression with respect to . v = nrn cos(n) + g () We compare this to the second Cauchy-Riemann equation to see that g () = 0. Thus g() = c. We have determined the harmonic conjugate. v = rn sin(n) + c The corresponding analytic function is f (z) = rn cos(n) + rn sin(n) + c On the positive real axis, ( = 0), the function has the value f (z = r) = rn + c We use analytic continuation to determine the function in the complex plane. f (z) = z n 4. We consider the function u=

y sin = r2 r

420

The function u is harmonic. We nd the harmonic conjugate v by solving the Cauchy-Riemann equations. 1 vr = u , v = rur r cos sin v r = 2 , v = r r We integrate the rst equation with respect to r to determine v to within the constant of integration g(). v= We dierentiate this expression with respect to . sin + g () r We compare this to the second Cauchy-Riemann equation to see that g () = 0. Thus g() = c. We have determined the harmonic conjugate. cos v= +c r The corresponding analytic function is v = f (z) = sin cos + + c r r 421 cos + g() r

On the positive real axis, ( = 0), the function has the value f (z = r) = + c. r

We use analytic continuation to determine the function in the complex plane. f (z) = + c z

Solution 8.18 1. We calculate the rst partial derivatives of u = (x y)2 and v = 2(x + y). ux uy vx vy = 2(x y) = 2(y x) =2 =2

We substitute these expressions into the Cauchy-Riemann equations. ux = vy , uy = vx 2(x y) = 2, 2(y x) = 2 x y = 1, y x = 1 y =x1 Since the Cauchy-Riemann equation are satised along the line y = x1 and the partial derivatives are continuous, the function f (z) is dierentiable there. Since the function is not dierentiable in a neighborhood of any point, it is nowhere analytic. 422

2 y 2

uy = 2 e

x2 y 2

x2 y 2 x2 y 2

Since the Cauchy-Riemann equations, ux = vy and uy = vx , are satised everywhere and the partial derivatives are continuous, f (z) is everywhere dierentiable. Since f (z) is dierentiable in a neighborhood of every point, it is analytic in the complex plane. (f (z) is entire.) Now to evaluate the derivative. The complex derivative is the derivative in any direction. We choose the x direction. f (z) = ux + vx f (z) = 2 e

x2 y 2

(x cos(2xy) y sin(2xy)) + 2 ex

x2 y 2

2 y 2

(y cos(2xy) + x sin(2xy))

f (z) = 2 e

Finding the derivative is easier if we rst write f (z) in terms of the complex variable z and use complex dierentiation. f (z) = ex

2 y 2

(cos(2x, y) + sin(2xy))

2 y 2

f (z) = ex

e2xy

2 2 2

423

are satised and these partial derivatives are continuous at a point z. We write the derivatives in polar coordinates in terms of derivatives in Cartesian coordinates to verify the Cauchy-Riemann equations in polar coordinates. First we calculate the derivatives. x = r cos , y = r sin y x wr = wx + wy = cos wx + sin wy r r x y w = wx + wy = r sin wx + r cos wy Then we verify the Cauchy-Riemann equations in polar coordinates. ur = cos ux + sin uy = cos vy sin vx 1 = v r 1 u = sin ux + cos uy r = sin vy cos vx = vr This proves that the Cauchy-Riemann equations in Cartesian coordinates hold only if the Cauchy-Riemann equations in polar coordinates hold. (Given that the partial derivatives are continuous.) Next we prove the converse. Assume that the Cauchy-Riemann equations in polar coordinates 1 ur = v , r 424 1 u = vr r

are satised and these partial derivatives are continuous at a point z. We write the derivatives in Cartesian coordinates in terms of derivatives in polar coordinates to verify the Cauchy-Riemann equations in Cartesian coordinates. First we calculate the derivatives. x2 + y 2 , = arctan(x, y) r x y wx = wr + w = wr 2 w x x r r r y x wy = wr + w = wr + 2 w y y r r r= Then we verify the Cauchy-Riemann equations in Cartesian coordinates. x y ux = ur 2 u r r x y = 2 v + vr r r = uy y x uy = ur + 2 u r r y x = 2 v vr r r = ux This proves that the Cauchy-Riemann equations in polar coordinates hold only if the Cauchy-Riemann equations in Cartesian coordinates hold. We have demonstrated the equivalence of the two forms. 2. We verify that log z is analytic for r > 0 and < < using the polar form of the Cauchy-Riemann equations. Log z = ln r + 1 1 u = vr ur = v , r r 1 1 1 = 1, 0 = 0 r r r 425

Since the Cauchy-Riemann equations are satised and the partial derivatives are continuous for r > 0, log z is analytic there. We calculate the value of the derivative using the polar dierentiation formulas. d 1 1 Log z = e (ln r + ) = e = dz r r z d 1 Log z = (ln r + ) = = dz z z z 3. Let {xi } denote rectangular coordinates in two dimensions and let {i } be an orthogonal coordinate system . The distance metric coecients hi are dened hi = The Laplacian is

2

x1 i 1

x2 i 2

u=

1 h1 h2

h2 u h1 1

h1 u h2 2

First we calculate the distance metric coecients in polar coordinates. hr = h = Then we nd the Laplacian.

2

x r x

2

+ +

y r y

2

= =

1 r

(rr ) + r

1 r

2

u = 6x 6y

Since u is not harmonic, it is not the real part of on analytic function. 2. We compute the Laplacian of u(x, y) = sinh x cos y + x.

2

Since u is harmonic, it is the real part of on analytic function. We determine v by solving the Cauchy-Riemann equations. vx = uy , vy = ux vx = sinh x sin y, vy = cosh x cos y + 1 We integrate the rst equation to determine v up to an arbitrary additive function of y. v = cosh x sin y + g(y) We substitute this into the second Cauchy-Riemann equation. This will determine v up to an additive constant. vy = cosh x cos y + 1 cosh x cos y + g (y) = cosh x cos y + 1 g (y) = 1 g(y) = y + a v = cosh x sin y + y + a f (z) = sinh x cos y + x + (cosh x sin y + y + a) Here a is a real constant. We write the function in terms of z. f (z) = sinh z + z + a 427

2

Since u is harmonic, it is the real part of on analytic function. We determine v by solving the Cauchy-Riemann equations. 1 v r = u , r n1 vr = nr sin(n), v = rur v = nrn cos(n)

We integrate the rst equation to determine v up to an arbitrary additive function of . v = rn sin(n) + g() We substitute this into the second Cauchy-Riemann equation. This will determine v up to an additive constant. v = nrn cos(n) nrn cos(n) + g () = nrn cos(n) g () = 0 g() = a v = rn sin(n) + a f (z) = rn cos(n) + (rn sin(n) + a) Here a is a real constant. We write the function in terms of z. f (z) = z n + a Solution 8.21 1. We nd the velocity potential and stream function . (z) = log z + log z (z) = ln r + + (ln r + ) = ln r , = ln r + 428

Figure 8.7: The velocity potential and stream function for (z) = log z + log z. A branch of these are plotted in Figure 8.7. Next we nd the stream lines, = c. ln r + = c r = ec These are spirals which go counter-clockwise as we follow them to the origin. See Figure 8.8. Next we nd the velocity eld. v = r + r r r v= r r 429 v=

Figure 8.8: Streamlines for = ln r + . The velocity eld is shown in the rst plot of Figure 8.9. We see that the uid ows out from the origin along the spiral paths of the streamlines. The second plot shows the direction of the velocity eld. 2. We nd the velocity potential and stream function . (z) = log(z 1) + log(z + 1) (z) = ln |z 1| + arg(z 1) + ln |z + 1| + arg(z + 1) = ln |z 2 1|, = arg(z 1) + arg(z + 1) The velocity potential and a branch of the stream function are plotted in Figure 8.10. The stream lines, arg(z 1) + arg(z + 1) = c, are plotted in Figure 8.11. Next we nd the velocity eld. v=

2 2

v=

Figure 8.9: Velocity eld and velocity direction eld for = ln r . The velocity eld is shown in the rst plot of Figure 8.12. The uid is owing out of sources at z = 1. The second plot shows the direction of the velocity eld. Solution 8.22 1. (a) We factor the denominator to see that there are rst order poles at z = . z2 z z = +1 (z )(z + ) 431

2 1 0 -1 -2

2 1 -1 0 1 0 -1 2-2

6 4 2 0 -2

2 1 -1 0 1 0 -1 2-2

Figure 8.10: The velocity potential and stream function for (z) = log(z 1) + log(z + 1). Since the function behaves like 1/z at innity, it is analytic there. (b) The denominator of 1/ sin z has rst order zeros at z = n, n Z. Thus the function has rst order poles at these locations. Now we examine the point at innity with the change of variables z = 1/. 1 1 2 = = / e e/ sin z sin(1/) We see that the point at innity is a singularity of the function. Since the denominator grows exponentially, there is no multiplicative factor of n that will make the function analytic at = 0. We conclude that the point at innity is an essential singularity. Since there is no deleted neighborhood of the point at innity that does contain rst order poles at the locations z = n, the point at innity is a non-isolated singularity. (c) log 1 + z 2 = log(z + ) + log(z ) There are branch points at z = . Since the argument of the logarithm is unbounded as z there is a branch point at innity as well. Branch points are non-isolated singularities. 432

-1

-2 -2

-1

Figure 8.11: Streamlines for = arg(z 1) + arg(z + 1). (d) 1 z sin(1/z) = z e/z + e/z 2 The point z = 0 is a singularity. Since the function grows exponentially at z = 0. There is no multiplicative factor of z n that will make the function analytic. Thus z = 0 is an essential singularity. There are no other singularities in the nite complex plane. We examine the point at innity. z sin 1 z = 1 sin

The point at innity is a singularity. We take the limit 0 to demonstrate that it is a removable 433

Figure 8.12: Velocity eld and velocity direction eld for = ln |z 2 1|. singularity. sin cos = lim =1 0 0 1 lim (e) log +z tan1 (z) z = 2 2 z sinh (z) 2z sinh (z) 434

There are branch points at z = due to the logarithm. These are non-isolated singularities. Note that sinh(z) has rst order zeros at z = n, n Z. The arctangent has a rst order zero at z = 0. Thus there is a second order pole at z = 0. There are second order poles at z = n, n Z \ {0} due to the hyperbolic sine. Since the hyperbolic sine has an essential singularity at innity, the function has an essential singularity at innity as well. The point at innity is a non-isolated singularity because there is no neighborhood of innity that does not contain second order poles. 2. (a) (z ) e1/(z1) has a simple zero at z = and an isolated essential singularity at z = 1. (b) sin(z 3) (z 3)(z + )6 has a removable singularity at z = 3, a pole of order 6 at z = and an essential singularity at z .

435

For every complex problem, there is a solution that is simple, neat, and wrong. - H. L. Mencken

9.1

Analytic Continuation

Suppose there is a function, f1 (z) that is analytic in the domain D1 and another analytic function, f2 (z) that is analytic in the domain D2 . (See Figure 9.1.) If the two domains overlap and f1 (z) = f2 (z) in the overlap region D1 D2 , then f2 (z) is called an analytic continuation of f1 (z). This is an appropriate name since f2 (z) continues the denition of f1 (z) outside of its original domain of denition D1 . We can dene a function f (z) that is analytic in the union of the domains D1 D2 . On the domain D1 we have f (z) = f1 (z) and f (z) = f2 (z) on D2 . f1 (z) and f2 (z) are called function elements. There is an analytic continuation even if the two domains only share an arc and not a two dimensional region. With more overlapping domains D3 , D4 , . . . we could perhaps extend f1 (z) to more of the complex plane. Sometimes it is impossible to extend a function beyond the boundary of a domain. This is known as a natural boundary. If a 436

Im(z) D1

D2 Re(z)

Figure 9.1: Overlapping Domains function f1 (z) is analytically continued to a domain Dn along two dierent paths, (See Figure 9.2.), then the two analytic continuations are identical as long as the paths do not enclose a branch point of the function. This is the uniqueness theorem of analytic continuation.

Dn D1

Consider an analytic function f (z) dened in the domain D. Suppose that f (z) = 0 on the arc AB, (see Figure 9.3.) Then f (z) = 0 in all of D. Consider a point on AB. The Taylor series expansion of f (z) about the point z = converges in a circle C at 437

D C A B

f () = lim

f ( + z) f () z0 z

If z is in the direction of the arc, then f () vanishes as well as all higher derivatives, f () = f () = f () = = 0. Thus we see that f (z) = 0 inside C. By taking Taylor series expansions about points on AB or inside of C we see that f (z) = 0 in D.

Result 9.1.1 Let f1 (z) and f2 (z) be analytic functions dened in D. If f1 (z) = f2 (z) for the points in a region or on an arc in D, then f1 (z) = f2 (z) for all points in D.

To prove Result 9.1.1, we dene the analytic function g(z) = f1 (z) f2 (z). Since g(z) vanishes in the region or on the arc, then g(z) = 0 and hence f1 (z) = f2 (z) for all points in D. 438

Result 9.1.2 Consider analytic functions f1 (z) and f2 (z) dened on the domains D1 and D2 , respectively. Suppose that D1 D2 is a region or an arc and that f1 (z) = f2 (z) for all z D1 D2 . (See Figure 9.4.) Then the function f (z) = is analytic in D1 D2 . f1 (z) for z D1 , f2 (z) for z D2 ,

D1

D2

D1

D2

Figure 9.4: Domains that Intersect in a Region or an Arc Result 9.1.2 follows directly from Result 9.1.1.

9.2

n=0

zn.

The sum converges uniformly for D1 = |z| r < 1. Since the derivative also converges in this domain, the function is analytic there. 439

Re(z)

Re(z) D2

D1 Im(z) Im(z)

Figure 9.5: Domain of Convergence for Now consider the function f2 (z) =

n=0

zn.

1 . 1z

This function is analytic everywhere except the point z = 1. On the domain D1 , 1 = f2 (z) = 1z

z n = f1 (z)

n=0

Analytic continuation tells us that there is a function that is analytic on the union of the two domains. Here, the domain is the entire z plane except the point z = 1 and the function is f (z) =

1 1z

1 . 1z

n=0

zn.

440

9.3

Result 9.3.1 An analytic function, u(x, y) + v(x, y) can be written in terms of a function of a complex variable, f (z) = u(x, y) + v(x, y).

Result 9.3.1 is proved in Exercise 9.1. Example 9.3.1 f (z) = cosh y sin x (x ex cos y y ex sin y) cos x sinh y (y ex cos y + x ex sin y) + cosh y sin x (y ex cos y + x ex sin y) + cos x sinh y (x ex cos y y ex sin y) is an analytic function. Express f (z) in terms of z. On the real line, y = 0, f (z) is f (z = x) = x ex sin x (Recall that cos(0) = cosh(0) = 1 and sin(0) = sinh(0) = 0.) The analytic continuation of f (z) into the complex plane is f (z) = z ez sin z. Alternatively, for x = 0 we have f (z = y) = y sinh y(cos y sin y). The analytic continuation from the imaginary axis to the complex plane is f (z) = z sinh(z)(cos(z) sin(z)) = z sinh(z)(cos(z) + sin(z)) = z sin z ez .

441

Example 9.3.2 Consider u = ex (x sin y y cos y). Find v such that f (z) = u + v is analytic. From the Cauchy-Riemann equations, v u = = ex sin y x ex sin y + y ex cos y y x v u = = ex cos y x ex cos y y ex sin y x y Integrate the rst equation with respect to y. v = ex cos y + x ex cos y + ex (y sin y + cos y) + F (x) = y ex sin y + x ex cos y + F (x) F (x) is an arbitrary function of x. Substitute this expression for v into the equation for v/x. y ex sin y x ex cos y + ex cos y + F (x) = y ex sin y x ex cos y + ex cos y Thus F (x) = 0 and F (x) = c. v = ex (y sin y + x cos y) + c Example 9.3.3 Find f (z) in the previous example. (Up to the additive constant.) Method 1 f (z) = u + v = ex (x sin y y cos y) + ex (y sin y + x cos y) ey ey ey + ey = ex x y + ex y 2 2 = (x + y) e(x+y) = z ez 442

ey ey 2

+x

ey + ey 2

Method 2 f (z) = f (x + y) = u(x, y) + v(x, y) is an analytic function. On the real axis, y = 0, f (z) is f (z = x) = u(x, 0) + v(x, 0) = ex (x sin 0 0 cos 0) + ex (0 sin 0 + x cos 0) = x ex Suppose there is an analytic continuation of f (z) into the complex plane. If such a continuation, f (z), exists, then it must be equal to f (z = x) on the real axis An obvious choice for the analytic continuation is f (z) = u(z, 0) + v(z, 0) since this is clearly equal to u(x, 0) + v(x, 0) when z is real. Thus we obtain f (z) = z ez Example 9.3.4 Consider f (z) = u(x, y) + v(x, y). Show that f (z) = ux (z, 0) uy (z, 0). f (z) = ux + vx = ux uy f (z) is an analytic function. On the real axis, z = x, f (z) is f (z = x) = ux (x, 0) uy (x, 0) Now f (z = x) is dened on the real line. An analytic continuation of f (z = x) into the complex plane is f (z) = ux (z, 0) uy (z, 0).

443

Example 9.3.5 Again consider the problem of nding f (z) given that u(x, y) = ex (x sin y y cos y). Now we can use the result of the previous example to do this problem. ux (x, y) = u = ex sin y x ex sin y + y ex cos y x u = x ex cos y + y ex sin y ex cos y uy (x, y) = y f (z) = ux (z, 0) uy (z, 0) = 0 z ez ez = z ez + ez Integration yields the result f (z) = z ez +c Example 9.3.6 Find f (z) given that u(x, y) = cos x cosh2 y sin x + cos x sin x sinh2 y v(x, y) = cos2 x cosh y sinh y cosh y sin2 x sinh y f (z) = u(x, y) + v(x, y) is an analytic function. On the real line, f (z) is f (z = x) = u(x, 0) + v(x, 0) = cos x cosh2 0 sin x + cos x sin x sinh2 0 + cos2 x cosh 0 sinh 0 cosh 0 sin2 x sinh 0 = cos x sin x Now we know the denition of f (z) on the real line. We would like to nd an analytic continuation of f (z) into the complex plane. An obvious choice for f (z) is f (z) = cos z sin z 444

Example 9.3.7 Find f (z) given only that u(x, y) = cos x cosh2 y sin x + cos x sin x sinh2 y. Recall that f (z) = ux + vx = ux uy Dierentiating u(x, y), ux = cos2 x cosh2 y cosh2 y sin2 x + cos2 x sinh2 y sin2 x sinh2 y uy = 4 cos x cosh y sin x sinh y f (z) is an analytic function. On the real axis, f (z) is f (z = x) = cos2 x sin2 x Using trig identities we can write this as f (z = x) = cos(2x) Now we nd an analytic continuation of f (z = x) into the complex plane. f (z) = cos(2z) Integration yields the result f (z) = sin(2z) +c 2

445

9.3.1

Polar Coordinates

u(r, ) = r(log r cos sin )

Example 9.3.8 Is the real part of an analytic function? The Laplacian in polar coordinates is = We calculate the partial derivatives of u. u r u r r u r r r u 1 r r r r u 2u 2 1 2u r2 2 From the above we see that u = = cos + log r cos sin = r cos + r log r cos r sin = 2 cos + log r cos sin = 1 (2 cos + log r cos sin ) r 1 r r r r + 1 2 . r2 2

= r ( cos + sin + log r sin ) = r (2 cos log r cos + sin ) = 1 (2 cos log r cos + sin ) r r u r + 1 2u = 0. r2 2

1 r r

Therefore u is harmonic and is the real part of some analytic function. 446

Example 9.3.9 Find an analytic function f (z) whose real part is u(r, ) = r (log r cos sin ) . Let f (z) = u(r, ) + v(r, ). The Cauchy-Riemann equations are v ur = , u = rvr . r Using the partial derivatives in the above example, we obtain two partial dierential equations for v(r, ). u vr = = cos + sin + log r sin r v = rur = r (cos + log r cos sin ) Integrating the equation for v yields v = r ( cos + log r sin ) + F (r) where F (r) is a constant of integration. Substituting our expression for v into the equation for vr yields cos + log r sin + sin + F (r) = cos + sin + log r sin F (r) = 0 F (r) = const Thus we see that f (z) = u + v = r (log r cos sin ) + r ( cos + log r sin ) + const f (z) is an analytic function. On the line = 0, f (z) is f (z = r) = r(log r) + r(0) + const = r log r + const 447

The analytic continuation into the complex plane is f (z) = z log z + const

Example 9.3.10 Find the formula in polar coordinates that is analogous to f (z) = ux (z, 0) uy (z, 0). We know that df f = e . dz r If f (z) = u(r, ) + v(r, ) then df = e (ur + vr ) dz From the Cauchy-Riemann equations, we have vr = u /r. u df = e ur dz r f (z) is an analytic function. On the line = 0, f (z) is f (z = r) = ur (r, 0) The analytic continuation of f (z) into the complex plane is f (z) = ur (z, 0) u (z, 0). r u (r, 0) r

448

Example 9.3.11 Find an analytic function f (z) whose real part is u(r, ) = r (log r cos sin ) .

ur (r, ) = (log r cos sin ) + cos u (r, ) = r ( log r sin sin cos ) f (z) = ur (z, 0) u (z, 0) r = log z + 1 Integrating f (z) yields f (z) = z log z + c.

9.3.2

Consider an analytic function: f (z) = u(x, y) + v(x, y). We dierentiate this expression. f (z) = ux (x, y) + vx (x, y) We apply the Cauchy-Riemann equation vx = uy . f (z) = ux (x, y) uy (x, y). Now consider the function of a complex variable, g(): g() = ux (x, ) uy (x, ) = ux (x, + ) uy (x, + ). 449 (9.1)

This function is analytic where f () is analytic. To show this we rst verify that the derivatives in the and directions are equal. g() = uxy (x, + ) uyy (x, + ) g() = (uxy (x, + ) + uyy (x, + )) = uxy (x, + ) uyy (x, + )

Since these partial derivatives are equal and continuous, g() is analytic. We evaluate the function g() at = x. (Substitute y = x into Equation 9.1.) f (2x) = ux (x, x) uy (x, x) We make a change of variables to solve for f (x). f (x) = ux x x x x , uy , . 2 2 2 2

If the expression is non-singular, then this denes the analytic function, f (z), on the real axis. The analytic continuation to the complex plane is z z z z f (z) = ux , uy , . 2 2 2 2 d Note that dz 2u(z/2, z/2) = ux (z/2, z/2) uy (z/2, z/2). We integrate the equation to obtain: f (z) = 2u z z , + c. 2 2

We know that the real part of an analytic function determines that function to within an additive constant. Assuming that the above expression is non-singular, we have found a formula for writing an analytic function in terms of its real part. With the same method, we can nd how to write an analytic function in terms of its imaginary part, v. We can also derive formulas if u and v are expressed in polar coordinates: f (z) = u(r, ) + v(r, ). 450

Result 9.3.2 If f (z) = u(x, y) + v(x, y) is analytic and the expressions are non-singular, then z z f (z) = 2u , + const (9.2) 2 2 z z f (z) = 2v , + const. (9.3) 2 2 If f (z) = u(r, ) + v(r, ) is analytic and the expressions are non-singular, then f (z) = 2u z 1/2 , log z + const 2 f (z) = 2v z 1/2 , log z + const. 2

Example 9.3.12 Consider the problem of nding f (z) given that u(x, y) = ex (x sin y y cos y). z z , 2 2 z z z z/2 z = 2e sin + cos +c 2 2 2 2 z z = z ez/2 sin + cos +c 2 2 = z ez/2 ez/2 + c = z ez +c

(9.4) (9.5)

f (z) = 2u

We try to construct the analytic function from its real part using Equation 9.2. f (z) = 2u z z , +c 2 2 1 z 2 z = 2 Log + 2 2 2 = Log(0) + c

+c

We obtain a singular expression, so the method fails. Example 9.3.14 Again consider the logarithm, this time written in terms of polar coordinates. Log z = Log r + We try to construct the analytic function from its real part using Equation 9.4. f (z) = 2u z 1/2 , log z + c 2 = 2 Log z 1/2 + c = Log z + c With this method we recover the analytic function.

452

9.4

Exercises

Exercise 9.1 Consider two functions, f (x, y) and g(x, y). They are said to be functionally dependent if there is a an h(g) such that f (x, y) = h(g(x, y)). f and g will be functionally dependent if and only if their Jacobian vanishes. If f and g are functionally dependent, then the derivatives of f are fx = h (g)gx fy = h (g)gy . Thus we have (f, g) f f = x y = fx gy fy gx = h (g)gx gy h (g)gy gx = 0. gx gy (x, y) fx gy fy gx = 0. This is a rst order partial dierential equation for f that has the general solution f (x, y) = h(g(x, y)). Prove that an analytic function u(x, y) + v(x, y) can be written in terms of a function of a complex variable, f (z) = u(x, y) + v(x, y). Exercise 9.2 Which of the following functions are the real part of an analytic function? For those that are, nd the harmonic conjugate, v(x, y), and nd the analytic function f (z) = u(x, y) + v(x, y) as a function of z. 1. x3 3xy 2 2xy + y 2. ex sinh y 453

3. ex (sin x cos y cosh y cos x sin y sinh y) Exercise 9.3 For an analytic function, f (z) = u(r, ) + v(r, ) prove that under suitable restrictions: f (z) = 2u z 1/2 , log z + const. 2

454

9.5

Hints

Hint 9.1 Show that u(x, y) + v(x, y) is functionally dependent on x + y so that you can write f (z) = f (x + y) = u(x, y) + v(x, y). Hint 9.2 Hint 9.3 Check out the derivation of Equation 9.2.

455

9.6

Solutions

Solution 9.1 u(x, y) + v(x, y) is functionally dependent on z = x + y if and only if (u + v, x + y) = 0. (x, y) (u + v, x + y) u + vx uy + vy = x 1 (x, y) = vx uy + (ux vy ) Since u and v satisfy the Cauchy-Riemann equations, this vanishes. =0 Thus we see that u(x, y) + v(x, y) is functionally dependent on x + y so we can write f (z) = f (x + y) = u(x, y) + v(x, y). Solution 9.2 1. Consider u(x, y) = x3 3xy 2 2xy + y. The Laplacian of this function is u uxx + uyy = 6x 6x =0 Since the function is harmonic, it is the real part of an analytic function. Clearly the analytic function is of the form, az 3 + bz 2 + cz + d, 456

with a, b and c complex-valued constants and d a real constant. Substituting z = x + y and expanding products yields, a x3 + 3x2 y 3xy 2 y 3 + b x2 + 2xy y 2 + c(x + y) + d. By inspection, we see that the analytic function is f (z) = z 3 + z 2 z + d. The harmonic conjugate of u is the imaginary part of f (z), v(x, y) = 3x2 y y 3 + x2 y 2 x + d. We can also do this problem with analytic continuation. The derivatives of u are ux = 3x2 3y 2 2y, uy = 6xy 2x + 1. The derivative of f (z) is f (z) = ux uy = 3x2 2y 2 2y + (6xy 2x + 1). On the real axis we have f (z = x) = 3x2 2x + . Using analytic continuation, we see that f (z) = 3z 2 2z + . Integration yields f (z) = z 3 z 2 + z + const 457

2. Consider u(x, y) = ex sinh y. The Laplacian of this function is u = ex sinh y + ex sinh y = 2 ex sinh y. Since the function is not harmonic, it is not the real part of an analytic function. 3. Consider u(x, y) = ex (sin x cos y cosh y cos x sin y sinh y). The Laplacian of the function is u = x (e (sin x cos y cosh y cos x sin y sinh y + cos x cos y cosh y + sin x sin y sinh y)) x x + (e ( sin x sin y cosh y cos x cos y sinh y + sin x cos y sinh y cos x sin y cosh y)) y = 2 ex (cos x cos y cosh y + sin x sin y sinh y) 2 ex (cos x cos y cosh y + sin x sin y sinh y) = 0.

Thus u is the real part of an analytic function. The derivative of the analytic function is f (z) = ux + vx = ux uy From the derivatives of u we computed before, we have f (z) = (ex (sin x cos y cosh y cos x sin y sinh y + cos x cos y cosh y + sin x sin y sinh y)) (ex ( sin x sin y cosh y cos x cos y sinh y + sin x cos y sinh y cos x sin y cosh y)) Along the real axis, f (z) has the value, f (z = x) = ex (sin x + cos x). By analytic continuation, f (z) is f (z) = ez (sin z + cos z) 458

We obtain f (z) by integrating. f (z) = ez sin z + const. u is the real part of the analytic function f (z) = ez sin z + c, where c is a real constant. We nd the harmonic conjugate of u by taking the imaginary part of f . f (z) = ex (cosy + sin y)(sin x cosh y + cos x sinh y) + c v(x, y) = ex sin x sin y cosh y + cos x cos y sinh y + c Solution 9.3 We consider the analytic function: f (z) = u(r, ) + v(r, ). Recall that the complex derivative in terms of polar coordinates is d = e = e . dz r r The Cauchy-Riemann equations are 1 1 ur = v , v r = u . r r We dierentiate f (z) and use the partial derivative in r for the right side. f (z) = e (ur + vr ) We use the Cauchy-Riemann equations to right f (z) in terms of the derivatives of u. 1 f (z) = e ur u r Now consider the function of a complex variable, g(): 1 g() = e ur (r, ) u (r, ) r 1 = e ur (r, + ) u (r, + ) r 459 (9.6)

This function is analytic where f () is analytic. It is a simple calculus exercise to show that the complex derivative in the direction, , and the complex derivative in the direction, , are equal. Since these partial derivatives are equal and continuous, g() is analytic. We evaluate the function g() at = log r. (Substitute = log r into Equation 9.6.) 1 f r e( log r) = e( log r) ur (r, log r) u (r, log r) r 1 rf r2 = ur (r, log r) u (r, log r) r If the expression is non-singular, then it denes the analytic function, f (z), on a curve. The analytic continuation to the complex plane is 1 zf z 2 = ur (z, log z) u (z, log z). z 2 We integrate to obtain an expression for f (z ). 1 f z 2 = u(z, log z) + const 2 We make a change of variables and solve for f (z). f (z) = 2u z 1/2 , log z + const. 2 Assuming that the above expression is non-singular, we have found a formula for writing the analytic function in terms of its real part, u(r, ). With the same method, we can nd how to write an analytic function in terms of its imaginary part, v(r, ).

460

Between two evils, I always pick the one I never tried before. - Mae West

10.1

Line Integrals

In this section we will recall the denition of a line integral in the Cartesian plane. In the next section we will use this to dene the contour integral in the complex plane. Limit Sum Denition. First we develop a limit sum denition of a line integral. Consider a curve C in the Cartesian plane joining the points (a0 , b0 ) and (a1 , b1 ). We partition the curve into n segments with the points (x0 , y0 ), . . . , (xn , yn ) where the rst and last points are at the endpoints of the curve. We dene the dierences, xk = xk+1 xk and yk = yk+1 yk , and let (k , k ) be points on the curve between (xk , yk ) and (xk+1 , yk+1 ). This is shown pictorially in Figure 10.1. 461

n1

k=0

where P and Q are continuous functions on the curve. (P and Q may be complex-valued.) In the limit as each of the xk and yk approach zero the value of the sum, (if the limit exists), is denoted by P (x, y) dx + Q(x, y) dy.

C

This is a line integral along the curve C. The value of the line integral depends on the functions P (x, y) and Q(x, y), the endpoints of the curve and the curve C. We can also write a line integral in vector notation. f (x) dx

C

Evaluating Line Integrals with Parameterization. Let the curve C be parametrized by x = x(t), y = y(t) for t0 t t1 . Then the dierentials on the curve are dx = x (t) dt and dy = y (t) dt. Using the parameterization we can evaluate a line integral in terms of a denite integral.

t1

P (x, y) dx + Q(x, y) dy =

C t0

C

where C is the semi-circle from (1, 0) to (1, 0) in the upper half plane. We parameterize the curve with x = cos t, y = sin t for 0 t .

x2 dx + (x + y) dy =

C 0

2 = 2 3

10.2

Contour Integrals

Limit Sum Denition. We develop a limit sum denition for contour integrals. It will be analogous to the denition for line integrals except that the notation is cleaner in complex variables. Consider a contour C in the complex plane joining the points c0 and c1 . We partition the contour into n segments with the points z0 , . . . , zn where the rst and last points are at the endpoints of the contour. We dene the dierences zk = zk+1 zk and let k be points on the contour between zk and zk+1 . Consider the sum

n1

f (k )zk ,

k=0

463

where f is a continuous function on the contour. In the limit as each of the zk approach zero the value of the sum, (if the limit exists), is denoted by f (z) dz.

C

This is a contour integral along C. We can write a contour integral in terms of a line integral. Let f (z) = (x, y). ( : R2 C.) f (z) dz =

C C

f (z) dz =

C C

Further, we can write a contour integral in terms of two real-valued line integrals. Let f (z) = u(x, y) + v(x, y). f (z) dz =

C C

C

f (z) dz =

C C

(10.2)

Evaluation. Let the contour C be parametrized by z = z(t) for t0 t t1 . Then the dierential on the contour is dz = z (t) dt. Using the parameterization we can evaluate a contour integral in terms of a denite integral.

t1

f (z) dz =

C t0

f (z(t))z (t) dt

Example 10.2.1 Let C be the positively oriented unit circle about the origin in the complex plane. Evaluate: 1. 2.

C

z dz dz 464

1 C z

3.

1 C z

|dz|

2

z dz =

C 0

e e d

2

1 2 e = 2 0 1 4 1 0 e e = 2 2 =0 2.

C

1 dz = z

2 0

1 e d = e

d = 2

0

2 0

1 d = e e

2 0

=0

465

10.2.1

b b

f (x) dx

a a

axb

Now we prove the analogous result for the modulus of a contour integral.

n1

f (z) dz = lim

C

z0

f (k )zk |f (k )| |zk |

k=0 n1

lim =

C

z0

k=0

C zC

= =

|dz| |dz|

C

max |f (z)|

zC

zC

C C

|f (z)| |dz|

zC

466

10.3

Let f (z) be analytic in a compact, closed, connected domain D. We consider the integral of f (z) on the boundary of the domain. f (z) dz = (x, y)(dx + dy) = dx + dy

D D D

D D

(Qx Py ) dx dy

If we assume that f (z) is continuous, we can apply Greens Theorem to the integral of f (z) on D. f (z) dz =

D D

dx + dy =

D

(x y ) dx dy

Since f (z) is analytic, it satises the Cauchy-Riemann equation x = y . The integrand in the area integral, x y , is zero. Thus the contour integral vanishes. f (z) dz = 0

D

This is known as Cauchys Theorem. The assumption that f (z) is continuous is not necessary, but it makes the proof much simpler because we can use Greens Theorem. If we remove this restriction the result is known as the Cauchy-Goursat Theorem. The proof of this result is omitted.

Result 10.3.1 The Cauchy-Goursat Theorem. If f (z) is analytic in a compact, closed, connected domain D then the integral of f (z) on the boundary of the domain vanishes. f (z) dz =

D k Ck

f (z) dz = 0

Here the set of contours {Ck } make up the positively oriented boundary D of the domain D.

467

As a special case of the Cauchy-Goursat theorem we can consider a simply-connected region. For this the boundary is a Jordan curve. We can state the theorem in terms of this curve instead of referring to the boundary.

Result 10.3.2 The Cauchy-Goursat Theorem for Jordan Curves. If f (z) is analytic inside and on a simple, closed contour C, then f (z) dz = 0

C

Example 10.3.1 Let C be the unit circle about the origin with positive orientation. In Example 10.2.1 we calculated that z dz = 0

C

Now we can evaluate the integral without parameterizing the curve. We simply note that the integrand is analytic inside and on the circle, which is simple and closed. By the Cauchy-Goursat Theorem, the integral vanishes. We cannot apply the Cauchy-Goursat theorem to evaluate 1 dz = 2 z

Example 10.3.2 Consider the domain D = {z | |z| > 1}. The boundary of the domain is the unit circle with negative orientation. f (z) = 1/z is analytic on D and its boundary. However D f (z) dz does not vanish and we cannot apply the Cauchy-Goursat Theorem. This is because the domain is not compact.

468

10.4

Contour Deformation

Path Independence. Consider a function f (z) that is analytic on a simply connected domain a contour C in that domain with end points a and b. The contour integral C f (z) dz is independent of the path connecting the end points b and can be denoted a f (z) dz. This result is a direct consequence of the Cauchy-Goursat Theorem. Let C1 and C2 be two dierent paths connecting the points. Let C2 denote the second contour with the opposite orientation. Let C be the contour which is the union of C1 and C2 . By the Cauchy-Goursat theorem, the integral along this contour vanishes. f (z) dz = f (z) dz + f (z) dz = 0

C C1 C2

This implies that the integrals along C1 and C2 are equal. f (z) dz =

C1 C2

f (z) dz

Thus contour integrals on simply connected domains are independent of path. This result does not hold for multiply connected domains.

Result 10.4.1 Path Independence. Let f (z) be analytic on a simply connected domain. For points a and b in the domain, the contour integral,

b

f (z) dz

a

Deforming Contours. Consider two simple, closed, positively oriented contours, C1 and C2 . Let C2 lie completely within C1 . If f (z) is analytic on and between C1 and C2 then the integrals of f (z) along C1 and C2 are equal. f (z) dz =

C1 C2

f (z) dz

469

Again, this is a direct consequence of the Cauchy-Goursat Theorem. Let D be the domain on and between C1 and C2 . By the Cauchy-Goursat Theorem the integral along the boundary of D vanishes.

f (z) dz +

C1 C2

f (z) dz = 0 f (z) dz

C2

f (z) dz =

C1

By following this line of reasoning, we see that we can deform a contour C without changing the value of as long as we stay on the domain where f (z) is analytic.

f (z) dz

Result 10.4.2 Contour Deformation. Let f (z) be analytic on a domain D. If a set of closed contours {Cm } can be continuously deformed on the domain D to a set of contours {n } then the integrals along {Cm } and {n } are equal. f (z) dz =

{Cm } {n }

f (z) dz

10.5

Moreras Theorem.

The converse of the Cauchy-Goursat theorem is Moreras Theorem. If the integrals of a continuous function f (z) vanish along all possible simple, closed contours in a domain, then f (z) is analytic on that domain. To prove Moreras Theorem we will assume that rst partial derivatives of f (z) = u(x, y) + v(x, y) are continuous, although the result can be derived without this restriction. Let the simple, closed contour C be the boundary of D which is contained in 470

C C

(u + v)(dx + dy) u dx v dy +

C C

= =

D

v dx + u dy (ux vy ) dx dy

D

(vx uy ) dx dy +

=0 Since the two integrands are continuous and vanish for all C in , we conclude that the integrands are identically zero. This implies that the Cauchy-Riemann equations, ux = v y , uy = vx ,

are satised. f (z) is analytic in . The converse of the Cauchy-Goursat theorem is Moreras Theorem. If the integrals of a continuous function f (z) vanish along all possible simple, closed contours in a domain, then f (z) is analytic on that domain. To prove Moreras Theorem we will assume that rst partial derivatives of f (z) = (x, y) are continuous, although the result can be derived without this restriction. Let the simple, closed contour C be the boundary of D which is contained in the domain . f (z) dz =

C C

( dx + dy) (x y ) dx dy

D

= =0

Since the integrand, x y is continuous and vanishes for all C in , we conclude that the integrand is identically zero. This implies that the Cauchy-Riemann equation, x = y , 471

Result 10.5.1 Moreras Theorem. If f (z) is continuous in a simply connected domain and f (z) dz = 0

C

for all possible simple, closed contours C in the domain, then f (z) is analytic in .

10.6

Indenite Integrals

Consider a function f (z) which is analytic in a domain D. An anti-derivative or indenite integral (or simply integral) is a function F (z) which satises F (z) = f (z). This integral exists and is unique up to an additive constant. Note that if the domain is not connected, then the additive constants in each connected component are independent. The indenite integrals are denoted: f (z) dz = F (z) + c.

We will prove existence later by writing an indenite integral as a contour integral. We briey consider uniqueness of the indenite integral here. Let F (z) and G(z) be integrals of f (z). Then F (z) G (z) = f (z) f (z) = 0. Although we do not prove it, it certainly makes sense that F (z) G(z) is a constant on each connected component of the domain. Indenite integrals are unique up to an additive constant. Integrals of analytic functions have all the nice properties of integrals of functions of a real variable. All the formulas from integral tables, including things like integration by parts, carry over directly. 472

10.7

10.7.1

Line Integrals and Primitives

Here we review some concepts from vector calculus. Analagous to an integral in functions of a single variable is a primitive in functions of several variables. Consider a function f (x). F (x) is an integral of f (x) if and only if dF = f dx. Now we move to functions of x and y. Let P (x, y) and Q(x, y) be dened on a simply connected domain. A primitive satises d = P dx + Q dy. A necessary and sucient condition for the existence of a primitive is that Py = Qx . The denite integral can be evaluated in terms of the primitive.

(c,d)

P dx + Q dy = (c, d) (a, b)

(a,b)

10.7.2

Contour Integrals

Now consider integral along the contour C of the function f (z) = (x, y). f (z) dz =

C C

( dx + dy)

A primitive of dx + dy exists if and only if y = x . We recognize this as the Cauch-Riemann equation, x = y . Thus a primitive exists if and only if f (z) is analytic. If so, then d = dx + dy. How do we nd the primitive that satises x = and y = ? Note that choosing (x, y) = F (z) where F (z) is an anti-derivative of f (z), F (z) = f (z), does the trick. We express the complex derivative as partial derivatives in the coordinate directions to show this. F (z) = f (z) = (x, y), 473 F (z) = x = y

From this we see that x = and y = so (x, y) = F (z) is a primitive. Since we can evaluate the line integral of ( dx + dy),

(c,d)

(a,b)

b

a

10.8

Result 10.8.1 Constructing an Indenite Integral. If f (z) is analytic in a simply connected domain D and a is a point in the domain, then

z

F (z) =

a

f () d

Now we consider anti-derivatives and denite integrals without using vector calculus. From real variables we know that we can construct an integral of f (x) with a denite integral.

x

F (x) =

a

f () d

Now we will prove the analogous property for functions of a complex variable.

z

F (z) =

a

f () d

474

Let f (z) be analytic in a simply connected domain D and let a be a point in the domain. To show that F (z) = is an integral of f (z), we apply the limit denition of dierentiation. F (z) = lim F (z + z) F (z) z z+z 1 = lim f () d z0 z a z+z 1 f () d = lim z0 z z

z0

z a

f () d

f () d

a

The integral is independent of path. We choose a straight line connecting z and z + z. We add and subtract z+z zf (z) = z f (z) d from the expression for F (z). 1 F (z) = lim z0 z

z+z

zf (z) +

z z+z

(f () f (z)) d (f () f (z)) d

= f (z) + lim

1 z0 z

z

lim f () = 0.

z+z z

z0

(f () f (z)) d lim

z0 [z...z+z]

This results demonstrates the existence of the indenite integral. We will use this to prove the Fundamental Theorem of Calculus for functions of a complex variable.

Result 10.8.2 Fundamental Theorem of Calculus. If f (z) is analytic in a simply connected domain D then

b

a

From Result 10.8.1 we know that

a b

f (z) dz = F (b) + c. (Here we are considering b to be a variable.) The case b = a determines the constant.

a

f (z) dz = F (a) + c = 0

a

c = F (a) This proves the Fundamental Theorem of Calculus for functions of a complex variable. Example 10.8.1 Consider the integral 1 dz C za where C is any closed contour that goes around the point z = a once in the positive direction. We use the Fundamental Theorem of Calculus to evaluate the integral. We start at a point on the contour z a = r e . When we traverse the contour once in the positive direction we end at the point z a = r e(+2) . 1 e(+2) dz = [log(z a)]za=r e za=r C za = Log r + ( + 2) (Log r + ) = 2 476

10.9

Exercises

(z) 0, directed from z = 1 to z = 1. Evaluate

C

z 2 dz z 2 dz

C

2. 3.

C

z 2 |dz| z 2 |dz|

C

4.

e(ax

2 +bx)

dx,

where a, b C and

2

0

and 2

0

x eax sin(x)dx,

477

where (a) > 0 and R. Hint, Solution Exercise 10.4 Use an admissible parameterization to evaluate (z z0 )n dz,

C

nZ

for the following cases: 1. C is the circle |z z0 | = 1 traversed in the counterclockwise direction. 2. C is the circle |z z0 2| = 1 traversed in the counterclockwise direction. 3. z0 = 0, n = 1 and C is the closed contour dened by the polar equation r = 2 sin2 Is this result compatible with the results of part (a)? Hint, Solution Exercise 10.5 1. Use bounding arguments to show that

R

lim

CR

z + Log z dz = 0 z3 + 1

C

3. Deduce that

C

z2 1 R2 + 1 dz r 2 z2 + 1 R 1

where C is a semicircle of radius R > 1 centered at the origin. Hint, Solution Exercise 10.6 Let C denote the entire positively oriented boundary of the half disk 0 r 1, 0 in the upper half plane. Consider the branch 3 f (z) = r e/2 , < < 2 2 of the multi-valued function z 1/2 . Show by separate parametric evaluation of the semi-circle and the two radii constituting the boundary that f (z) dz = 0.

C

Does the Cauchy-Goursat theorem apply here? Hint, Solution Exercise 10.7 Evaluate the following contour integrals using anti-derivatives and justify your approach for each. 1. z 3 + z 3 dz,

C

C

3.

1 + e z dz = (1 ) 2 C

with z = e Log z , < Arg z < . C joins z1 = 1 and z2 = 1, lying above the real axis except at the end points. (Hint: redene z so that it remains unchanged above the real axis and is dened continuously on the real axis.) Hint, Solution

480

10.10

Hint 10.1

Hints

Hint 10.2 2 Let C be the parallelogram in the complex plane with corners at R and R + b/(2a). Consider the integral of eaz on this contour. Take the limit as R . Hint 10.3 Extend the range of integration to ( . . . ). Use ex = cos(x) + sin(x) and the result of Exercise 10.2. Hint 10.4 Hint 10.5 Hint 10.6 Hint 10.7

481

10.11

Solutions

dz = e d |dz| = | e d| = |d| = d

1.

z 2 dz =

C 0

e2 e d e3 d

= =

1 3 e 3

1 0 e e3 = 3 1 = (1 (1)) 3 2 = 3 482

2.

0

|z | dz =

C 0

| e2 | e d e d

0 e

= =

= 1 (1) =2 3.

0

z 2 |dz| =

C 0

e2 | e d| e2 d

= =

2 0 e 2 = (1 1) 2 =0 4.

0

|z 2 | |dz| =

C 0

| e2 || e d| d

= []0 = 483

Solution 10.2

I=

e(ax

2 +bx)

dx

b2 /(4a)

ea(x+b/(2a)) dx

2

Consider the parallelogram in the complex plane with corners at R and R + b/(2a). The integral of eaz on this contour vanishes as it is an entire function. We relate the integral along one side of the parallelogram to the integrals along the other three sides.

R+b/(2a) R+b/(2a)

eaz dz =

R+b/(2a)

R+b/(2a)

+

R

+

R

eaz dz.

The rst and third integrals on the right side vanish as R because the integrand vanishes and the lengths of the paths of integration are nite. Taking the limit as R we have,

+b/(2a) +b/(2a)

eaz dz

ea(x+b/(2a)) dx =

eax dx.

2 /(4a) 2 /(4a)

eax dx.

1 a

e d b2 /(4a) e a

e(ax

2 +bx)

dx =

484

I=2

0

Since

2 eax

eax ex dx.

2

0

eax cos(x) dx =

2 /(4a) e a

Consider I=2

0

Since x

2 eax

I =

x eax ex dx.

1 1 2 2 + eax ex I = eax ex 2a 2a 2 eax ex dx I= 2a

dx

485

2

0

x eax sin(x) dx =

2a

2 /(4a) e a

2

[0 . . . 2)

(z z0 )n dz =

C

en e d

0 2 e(n+1) n+1 0 []2 0

for n = 1 for n = 1

0 2

for n = 1 for n = 1

2

[0 . . . 2)

(z z0 ) dz =

C

2 + e

0 (2+e )n+1 n+1

e d for n = 1 for n = 1

log 2 +

0 2 e 0

=0

486

-1 -1

Figure 10.2: The contour: r = 2 sin2 The contour encircles the origin twice. See Figure 10.2.

4

z 1 dz =

C 0 4

=

0

= [log(r()) + ]4 0 487

Since r() does not vanish, the argument of r() does not change in traversing the contour and thus the logarithmic term has the same value at the beginning and end of the path. z 1 dz = 4

C

This answer is twice what we found in part (a) because the contour goes around the origin twice. Solution 10.5 1. We parameterize the contour with z = R e and bound the modulus of the integral. z + Log z dz z3 + 1 z + Log z |dz| z3 + 1

CR

CR 2

CR

2. We parameterize the contour and bound the modulus of the integral. z = 2 e , [/2 . . . /2] 488

Log z dz

C

|Log z| |dz|

C /2

=

/2

| ln 2 + |2 d

/2

2

/2 /2

0

=4 =

( + 4 ln 2) 2

z2 1 dz z2 + 1

z2 1 |dz| 2 C z +1 0 + R2 e2 1 |R d| R2 e2 +1 0

0 +

R2 + 1 d R2 1 0 R2 + 1 = r 2 R 1 R

489

Solution 10.6

f (z) dz =

C 0

r dr +

0

e/2 e d +

1

r (dr)

2 2 2 = + 3 3 3 =0

2 + 3

The Cauchy-Goursat theorem does not apply because the function is not analytic at z = 0, a point on the boundary. Solution 10.7 1. z + z

C 3 3

z 4 1 dz = 2 4 2z 1 = + 2

1+

In this example, the anti-derivative is single-valued. 2. sin3 z sin z cos z dz = 3 C 1 sin3 () sin3 () = 3 sinh3 () = 3

2

3. We choose the branch of z with /2 < arg(z) < 3/2. This matches the principal value of z above the real axis and is dened continuously on the path of integration. z 1+ z dz = 1+ C

e0 e e0

491

If I were founding a university I would begin with a smoking room; next a dormitory; and then a decent reading room and a library. After that, if I still had more money that I couldnt use, I would hire a professor and get some text books.

11.1

Result 11.1.1 Cauchys Integral Formula. If f () is analytic in a compact, closed, connected domain D and z is a point in the interior of D then f (z) = 1 2 f () 1 d = z 2 f () d. z (11.1)

Ck

Here the set of contours {Ck } make up the positively oriented boundary D of the domain D. More generally, we have f (n) (z) = n! 2 f () n! d = ( z)n+1 2 f () d. ( z)n+1 (11.2)

Ck

Cauchys Formula shows that the value of f (z) and all its derivatives in a domain are determined by the value of f (z) on the boundary of the domain. Consider the rst formula of the result, Equation 11.1. We deform the contour to a circle of radius about the point = z. f () d = z =

C

f () d z f (z) d + z

f () f (z) d z

We use the result of Example 10.8.1 to evaluate the rst integral. f () d = 2f (z) + z 493 f () f (z) d z

The remaining integral along C vanishes as 0 because f () is continuous. We demonstrate this with the maximum modulus integral bound. The length of the path of integration is 2. lim f () f (z) 1 d lim (2) max |f () f (z)| 0 z |z|= lim 2 max |f () f (z)|

0 |z|=

C

f () d z

We derive the second formula, Equation 11.2, from the rst by dierentiating with respect to z. Note that the integral converges uniformly for z in any closed subset of the interior of C. Thus we can dierentiate with respect to z and interchange the order of dierentiation and integration. f (n) (z) = 1 dn f () d n 2 dz C z 1 dn f () = d 2 C dz n z n! f () = d 2 C ( z)n+1

Example 11.1.1 Consider the following integrals where C is the positive contour on the unit circle. For the third integral, the point z = 1 is removed from the contour. 1.

C

sin cos z 5

dz

494

2.

C

1 dz (z 3)(3z 1) z dz

3.

C

1. Since sin (cos (z 5 )) is an analytic function inside the unit circle, sin cos z 5

C 1 (z3)(3z1)

dz = 0

2.

has singularities at z = 3 and z = 1/3. Since z = 3 is outside the contour, only the singularity at z = 1/3 will contribute to the value of the integral. We will evaluate this integral using the Cauchy integral formula. 1 1 dz = 2 = (1/3 3)3 4 C (z 3)(3z 1)

3. Since the curve is not closed, we cannot apply the Cauchy integral formula. Note that z is single-valued and analytic in the complex plane with a branch cut on the negative real axis. Thus we use the Fundamental Theorem of Calculus.

C

2 3 z z dz = 3 e 2 3/2 e = e3/2 3 2 = ( ) 3 4 = 3

495

Cauchys Inequality. Suppose the f () is analytic in the closed disk | z| r. By Cauchys integral formula, n! f () d, 2 C ( z)n+1 where C is the circle of radius r centered about the point z. We use this to obtain an upper bound on the modulus of f (n) (z). f (n) (z) = f (n) (z) = f () n! d 2 C ( z)n+1 n! f () 2r max |z|=r ( z)n+1 2 n! = n max |f ()| r |z|=r

Result 11.1.2 Cauchys Inequality. If f () is analytic in | z| r then f (n) (z) where |f ()| M for all | z| = r.

Liouvilles Theorem. Consider a function f (z) that is analytic and bounded, (|f (z)| M ), in the complex plane. From Cauchys inequality, M |f (z)| r for any positive r. By taking r , we see that f (z) is identically zero for all z. Thus f (z) is a constant.

n!M rn

Result 11.1.3 Liouvilles Theorem. If f (z) is analytic and |f (z)| is bounded in the complex plane then f (z) is a constant.

496

The Fundamental Theorem of Algebra. We will prove that every polynomial of degree n 1 has exactly n roots, counting multiplicities. First we demonstrate that each such polynomial has at least one root. Suppose that an nth degree polynomial p(z) has no roots. Let the lower bound on the modulus of p(z) be 0 < m |p(z)|. The function f (z) = 1/p(z) is analytic, (f (z) = p (z)/p2 (z)), and bounded, (|f (z)| 1/m), in the extended complex plane. Using Liouvilles theorem we conclude that f (z) and hence p(z) are constants, which yields a contradiction. Therefore every such polynomial p(z) must have at least one root. Now we show that we can factor the root out of the polynomial. Let

n

p(z) =

k=0

pk z k .

We note that

n1

(z c ) = (z c)

k=0

cn1k z k .

Suppose that the nth degree polynomial p(z) has a root at z = c. p(z) = p(z) p(c)

n n

=

k=0 n

pk z

k=0

pk ck

=

k=0 n

pk z k ck

k1

=

k=0

pk (z c)

j=0

ck1j z j

= (z c)q(z) Here q(z) is a polynomial of degree n 1. By induction, we see that p(z) has exactly n roots. 497

Result 11.1.4 Fundamental Theorem of Algebra. Every polynomial of degree n 1 has exactly n roots, counting multiplicities.

Gauss Mean Value Theorem. Let f () be analytic in | z| r. By Cauchys integral formula, f (z) = 1 2 f () d, z

where C is the circle | z| = r. We parameterize the contour with = z + r e . f (z) = Writing this in the form, f (z) = 1 2r

2

1 2

2 0

f (z + r e ) r e d r e

f (z + r e )r d,

0

we see that f (z) is the average value of f () on the circle of radius r about the point z.

2

f (z + r e ) d.

0

That is, f (z) is equal to its average value on a circle of radius r about the point z.

Extremum Modulus Theorem. Let f (z) be analytic in closed, connected domain, D. The extreme values of the modulus of the function must occur on the boundary. If |f (z)| has an interior extrema, then the function is a constant. We will show this with proof by contradiction. Assume that |f (z)| has an interior maxima at the point z = c. This 498

means that there exists an neighborhood of the point z = c for which |f (z)| |f (c)|. Choose an |z c| lies inside this neighborhood. First we use Gauss mean value theorem. 1 2

2

f (c) =

f c + e d

0

We get an upper bound on |f (c)| with the maximum modulus integral bound. |f (c)| 1 2

2

f c + e

0

2

f c + e

0

If |f (z)| < |f (c)| for any point on |z c| = , then the continuity of f (z) implies that |f (z)| < |f (c)| in a neighborhood of that point which would make the value of the integral of |f (z)| strictly less than |f (c)|. Thus we conclude that |f (z)| = |f (c)| for all |z c| = . Since we can repeat the above procedure for any circle of radius smaller than , |f (z)| = |f (c)| for all |z c| , i.e. all the points in the disk of radius about z = c are also maxima. By recursively repeating this procedure points in this disk, we see that |f (z)| = |f (c)| for all z D. This implies that f (z) is a constant in the domain. By reversing the inequalities in the above method we see that the minimum modulus of f (z) must also occur on the boundary.

Result 11.1.6 Extremum Modulus Theorem. Let f (z) be analytic in a closed, connected domain, D. The extreme values of the modulus of the function must occur on the boundary. If |f (z)| has an interior extrema, then the function is a constant.

499

11.2

Result 11.2.1 The Argument Theorem. Let f (z) be analytic inside and on C except for isolated poles inside the contour. Let f (z) be nonzero on C. 1 2 f (z) dz = N P f (z)

Here N is the number of zeros and P the number of poles, counting multiplicities, of f (z) inside C.

First we will simplify the problem and consider a function f (z) that has one zero or one pole. Let f (z) be analytic and nonzero inside and on A except for a zero of order n at z = a. Then we can write f (z) = (z a)n g(z) where g(z) (z) is analytic and nonzero inside and on A. The integral of f (z) along A is f 1 2 f (z) 1 dz = f (z) 2 1 = 2 1 = 2 1 = 2 =n d (log(f (z))) dz dz d (log((z a)n ) + log(g(z))) dz dz d (log((z a)n )) dz dz n dz za

500

Now let f (z) be analytic and nonzero inside and on B except for a pole of order p at z = b. Then we can write g(z) (z) f (z) = (zb)p where g(z) is analytic and nonzero inside and on B. The integral of f (z) along B is f 1 2

B

f (z) 1 dz = f (z) 2 1 = 2 1 = 2 1 = 2 = p

Now consider a function f (z) that is analytic inside an on the contour C except for isolated poles at the points b1 , . . . , bp . Let f (z) be nonzero except at the isolated points a1 , . . . , an . Let the contours Ak , k = 1, . . . , n, be simple, positive contours which contain the zero at ak but no other poles or zeros of f (z). Likewise, let the contours Bk , k = 1, . . . , p be simple, positive contours which contain the pole at bk but no other poles of zeros of f (z). (See Figure 11.1.) By deforming the contour we obtain f (z) dz = f (z)

n Aj

j=1

Bj

11.3

Rouches Theorem

Result 11.3.1 Rouches Theorem. Let f (z) and g(z) be analytic inside and on a simple, closed contour C. If |f (z)| > |g(z)| on C then f (z) and f (z) + g(z) have the same number of zeros inside C and no zeros on C.

501

A1 B1 B2 B3

A2

Figure 11.1: Deforming the contour C. First note that since |f (z)| > |g(z)| on C, f (z) is nonzero on C. The inequality implies that |f (z) + g(z)| > 0 on C so f (z) + g(z) has no zeros on C. We well count the number of zeros of f (z) and g(z) using the Argument Theorem, (Result 11.2.1). The number of zeros N of f (z) inside the contour is N= 1 2 f (z) dz. f (z)

Now consider the number of zeros M of f (z) + g(z). We introduce the function h(z) = g(z)/f (z). M= 1 2 1 = 2 1 = 2 =N+ =N 502 f (z) + g (z) dz f (z) + g(z) f (z) + f (z)h(z) + f (z)h (z) dz f (z) + f (z)h(z) f (z) 1 h (z) dz + dz f (z) 2 C 1 + h(z)

1 [log(1 + h(z))]C 2

(Note that since |h(z)| < 1 on C, (1 + h(z)) > 0 on C and the value of log(1 + h(z)) does not not change in traversing the contour.) This demonstrates that f (z) and f (z) + g(z) have the same number of zeros inside C and proves the result.

503

11.4

Exercises

(arg(sin z))

C

where C is the unit circle? Exercise 11.2 Let C be the circle of radius 2 centered about the origin and oriented in the positive direction. Evaluate the following integrals: 1. 2. 3.

sin z C z 2 +5 z C z 2 +1 C z 2 +1 z

dz dz dz

Exercise 11.3 Let f (z) be analytic and bounded (i.e. |f (z)| < M ) for |z| > R, but not necessarily analytic for |z| R. Let the points and lie inside the circle |z| = R. Evaluate f (z) dz (z )(z )

where C is any closed contour outside |z| = R, containing the circle |z| = R. [Hint: consider the circle at innity] Now suppose that in addition f (z) is analytic everywhere. Deduce that f () = f (). Exercise 11.4 Using Rouches theorem show that all the roots of the equation p(z) = z 6 5z 2 + 10 = 0 lie in the annulus 1 < |z| < 2. Exercise 11.5 Evaluate as a function of t = 1 2

C

where C is any positively oriented contour surrounding the circle |z| = a. Exercise 11.6 Consider C1 , (the positively oriented circle |z| = 4), and C2 , (the positively oriented boundary of the square whose sides lie along the lines x = 1, y = 1). Explain why f (z) dz =

C1 C2

f (z) dz

for the functions 1 +1 z 2. f (z) = 1 ez 1. f (z) = 3z 2 Exercise 11.7 Show that if f (z) is of the form f (z) = k k1 1 + k1 + + + g(z), zk z z k1

where g is analytic inside and on C, (the positive circle |z| = 1), then f (z) dz = 21 .

C

Exercise 11.8 Show that if f (z) is analytic within and on a simple closed contour C and z0 is not on C then f (z) dz = z z0 f (z) dz. (z z0 )2

Exercise 11.9 If C is the positive circle z = e show that for any real constant a, eaz dz = 2 z

and hence

0

ea cos cos(a sin ) d = . Exercise 11.10 Use Cauchy-Goursat, the generalized Cauchy integral formula, and suitable extensions to multiply-connected domains to evaluate the following integrals. Be sure to justify your approach in each case. 1. z dz 3 C z 9 where C is the positively oriented rectangle whose sides lie along x = 5, y = 3. sin z dz, 4)

2.

C

z 2 (z

C

(z 3 + z + ) sin z dz, z 4 + z 3

C

ezt dz z 2 (z + 1)

Exercise 11.11 Use Liouvilles theorem to prove the following: 1. If f (z) is entire with (f (z)) M for all z then f (z) is constant.

2. If f (z) is entire with |f (5) (z)| M for all z then f (z) is a polynomial of degree at most ve. Exercise 11.12 Find all functions f (z) analytic in the domain D : |z| < R that satisfy f (0) = e and |f (z)| 1 for all z in D. Exercise 11.13 Let f (z) = k 4 k=0 1.

C z k 4

and evaluate the following contour integrals, providing justication in each case: C is the positive circle |z 1| = 1.

2.

C

507

11.5

Hints

Hint 11.3 To evaluate the integral, consider the circle at innity. Hint 11.4

Hint 11.5

Hint 11.6

Hint 11.7

Hint 11.8

Hint 11.9

Hint 11.10

508

509

11.6

Solutions

Solution 11.1 Let f (z) be analytic inside and on the contour C. Let f (z) be nonzero on the contour. The argument theorem states that 1 f (z) dz = N P, 2 C f (z) where N is the number of zeros and P is the number of poles, (counting multiplicities), of f (z) inside C. The theorem is aptly named, as 1 2 f (z) 1 dz = [log(f (z))]C f (z) 2 1 = [log |f (z)| + arg(f (z))]C 2 1 [arg(f (z))]C . = 2 f (z) 1 dz = [arg(f (z))]C = N P. f (z) 2

Since sin z has a single zero and no poles inside the unit circle, we have 1 arg(sin(z)) 2 arg(sin(z)) Solution 11.2 1. Since the integrand zsin z is analytic inside and on the contour, (the only singularities are at z = 5 and at 2 +5 innity), the integral is zero by Cauchys Theorem. 510

C

=10 = 2

z=

z=

1 2

3. z2 + 1 dz = z =

C

z+

C

1 z

C

dz 1 dz z

z dz +

= 0 + 2 = 2 Solution 11.3 Let C be the circle of radius r, (r > R), centered at the origin. We get an upper bound on the integral with the Maximum Modulus Integral Bound, (Result 10.2.1). f (z) f (z) M dz 2r max 2r |z|=r (z )(z ) (z )(z ) (r ||)(r ||) 511

By taking the limit as r we see that the modulus of the integral is bounded above by zero. Thus the integral vanishes. Now we assume that f (z) is analytic and evaluate the integral with Cauchys Integral Formula. (We assume that = .) f (z) dz = 0 C (z )(z ) f (z) f (z) dz + dz = 0 (z )( ) C ( )(z ) f () f () + 2 =0 2 f () = f ()

Solution 11.4 Consider the circle |z| = 2. On this circle: |z 6 | = 64 | 5z 2 + 10| | 5z 2 | + |10| = 30 Since |z 6 | < | 5z 2 + 10| on |z| = 2, p(z) has the same number of roots as z 6 in |z| < 2. p(z) has 6 roots in |z| < 2. Consider the circle |z| = 1. On this circle: |10| = 10 |z 6 5z 2 | |z 6 | + | 5z 2 | = 6 Since |z 6 5z 2 | < |10| on |z| = 1, p(z) has the same number of roots as 10 in |z| < 1. p(z) has no roots in |z| < 1. On the unit circle, |p(z)| |10| |z 6 | |5z 2 | = 4. Thus p(z) has no roots on the unit circle. We conclude that p(z) has exactly 6 roots in 1 < |z| < 2. 512

Solution 11.5 We evaluate the integral with Cauchys Integral Formula. ezt dz 2 2 2 C z (z + a ) ezt ezt ezt 1 = + 3 3 2 C a2 z 2 2a (z a) 2a (z + a) eat eat d ezt + = dz a2 z=0 2a3 2a3 t sin(at) = 2 a a3 at sin(at) = a3 = 1 2 Solution 11.6 1. We factor the denominator of the integrand. 3z 2 1 1 = +1 3(z 3/3)(z + 3/3)

dz

There are two rst order poles which could contribute to the value of an integral on a closed path. Both poles lie inside both contours. See Figure 11.2. We see that C1 can be continuously deformed to C2 on the domain where the integrand is analytic. Thus the integrals have the same value. 2. We consider the integrand z . 1 ez Since ez = 1 has the solutions z = 2n for n Z, the integrand has singularities at these points. There is a removable singularity at z = 0 and rst order poles at z = 2n for n Z \ {0}. Each contour contains only the singularity at z = 0. See Figure 11.3. We see that C1 can be continuously deformed to C2 on the domain where the integrand is analytic. Thus the integrals have the same value. 513

4 2 -4 -2 -2 -4 2 4

1 . 3z 2 +1

6 4 2 -6 -4 -2 -2 -4 -6 2 4 6

z . 1ez

514

Solution 11.7 First we write the integral of f (z) as a sum of integrals. f (z) dz =

C C

=

C

k k1 1 + k1 + + + g(z) dz k z z z k k1 1 dz + dz + + dz + k k1 z C z C z

g(z) dz

C

The integral of g(z) vanishes by the Cauchy-Goursat theorem. We evaluate the integral of 1 /z with Cauchys integral formula. 1 dz = 21 C z We evaluate the remaining n /z n terms with anti-derivatives. Each of these integrals vanish. f (z) dz =

C

k1 k dz + dz + + k k1 C z C z k 2 = + + k1 (k 1)z z C = 21

1 dz + z + 21

g(z) dz

C

Solution 11.8 We evaluate the integrals with the Cauchy integral formula. (z0 is required to not be on C so the integrals exist.) f (z) dz = z z0 2f (z0 ) if z0 is inside C 0 if z0 is outside C

2 f 1!

f (z) dz = (z z0 )2

Solution 11.9 First we evaluate the integral using the Cauchy Integral Formula. eaz dz = [eaz ]z=0 = 2 z eaz dz = 2 z e d = 2

Next we parameterize the path of integration. We use the periodicity of the cosine and sine to simplify the integral.

C ea e

2 0 2 0 2

0 2

ea cos cos(sin ) d = 2

0

ea cos cos(sin ) d =

0

Solution 11.10 1. We factor the integrand to see that there are singularities at the cube roots of 9. z z = 3 3 z3 9 z 9 z 9 e2/3 z 3 9 e2/3 Let C1 , C2 and C3 be contours around z = 3 9, z = 3 9 e2/3 and z = 3 9 e2/3 . See Figure 11.4. Let D be the domain between C, C1 and C2 , i.e. the boundary of D is the union of C, C1 and C2 . Since the integrand is analytic in D, the integral along the boundary of D vanishes.

D

z dz = z3 9

z dz + z3 9

C1

z dz + z3 9 516

C2

z dz + z3 9

C3

z dz = 0 z3 9

From this we see that the integral along C is equal to the sum of the integrals along C1 , C2 and C3 . (We could also see this by deforming C onto C1 , C2 and C3 .) z dz = 9 z dz + 9 z dz + 9 z dz 9

z3

C1

z3

C2

z3

C3

z3

We use the Cauchy Integral Formula to evaluate the integrals along C1 , C2 and C2 . z dz = z3 9 3 dz 9 e2/3 z 3 9 e2/3 z dz 3 2/3 z 9e z 3 9 e2/3 z dz 3 z 9 e2/3 z 3 9 e2/3 z 9 e2/3 3 3 z 3 9 e2/3

z= 3 9

C1

z

C2

9 3 3 9 9

+ +

C3

z z z

= 2

+ 2

z z 3 9 e2/3 z z 3 9 e2/3

z= 3 9 e2/3

+ 2

z= 3 9 e2/3

2. The integrand has singularities at z = 0 and z = 4. Only the singularity at z = 0 lies inside the contour. We use 517

C C1

2 4 6

C2

-6 -4 -2

C3

-2 -4

Figure 11.4: The contours for the Cauchy Integral Formula to evaluate the integral. z 2 (z

z . z 3 9

z=0

3. We factor the integrand to see that there are singularities at z = 0 and z = . (z 3 + z + ) sin z dz = z 4 + z 3 (z 3 + z + ) sin z dz z 3 (z + )

Let C1 and C2 be contours around z = 0 and z = . See Figure 11.5. Let D be the domain between C, C1 and C2 , i.e. the boundary of D is the union of C, C1 and C2 . Since the integrand is analytic in D, the integral along the boundary of D vanishes. =

D C

+

C1

+

C2

=0

518

From this we see that the integral along C is equal to the sum of the integrals along C1 and C2 . (We could also see this by deforming C onto C1 and C2 .) =

C C1

+

C2

We use the Cauchy Integral Formula to evaluate the integrals along C1 and C2 . (z 3 + z + ) sin z dz = z 4 + z 3 (z 3 + z + ) sin z (z 3 + z + ) sin z dz + dz z 3 (z + ) z 3 (z + ) C1 C2 2 d2 (z 3 + z + ) sin z (z 3 + z + ) sin z + = 2 z3 2! dz 2 z+ z=

2 3

z=0

sin z

z=0

C

ezt dz. z 2 (z + 1)

There are singularities at z = 0 and z = 1. Let C1 and C2 be contours around z = 0 and z = 1. See Figure 11.6. We deform C onto C1 and C2 . =

C C1

+

C2

519

4 2 -4 -2 -2 -4

Figure 11.5: The contours for

(z 3 +z+) sin z . z 4 +z 3

C1 C2 2

C

4

We use the Cauchy Integral Formula to evaluate the integrals along C1 and C2 . ezt dz = z 2 (z + 1) ezt ezt dz + dz 2 2 C1 z (z + 1) C1 z (z + 1) ezt d ezt = 2 2 + 2 z z=1 dz (z + 1) z=0 zt ezt te = 2 et +2 (z + 1) (z + 1)2 z=0 = 2(et +t 1)

Solution 11.11 Liouvilles Theorem states that if f (z) is analytic and bounded in the complex plane then f (z) is a constant. 520

2 1

C2

-2 -1 -1 -2

C1

1

C

2

ezt . z 2 (z+1)

1. Since f (z) is analytic, ef (z) is analytic. The modulus of ef (z) is bounded. ef (z) = e

(f (z))

eM

By Liouvilles Theorem we conclude that ef (z) is constant and hence f (z) is constant. 2. We know that f (z) is entire and |f (5) (z)| is bounded in the complex plane. Since f (z) is analytic, so is f (5) (z). We apply Liouvilles Theorem to f (5) (z) to conclude that it is a constant. Then we integrate to determine the form of f (z). f (z) = c5 z 5 + c4 z 4 + c3 z 3 + c2 z 2 + c1 z + c0 Here c5 is the value of f (5) (z) and c4 through c0 are constants of integration. We see that f (z) is a polynomial of degree at most ve. Solution 11.12 For this problem we will use the Extremum Modulus Theorem: Let f (z) be analytic in a closed, connected domain, D. The extreme values of the modulus of the function must occur on the boundary. If |f (z)| has an interior extrema, then the function is a constant. 521

Since |f (z)| has an interior extrema, |f (0)| = | e | = 1, we conclude that f (z) is a constant on D. Since we know the value at z = 0, we know that f (z) = e . Solution 11.13 First we determine the radius of convergence of the series with the ratio test. R = lim k 4 /4k k (k + 1)4 /4k+1 k4 = 4 lim k (k + 1)4 24 = 4 lim k 24 =4

The series converges absolutely for |z| < 4. 1. Since the integrand is analytic inside and on the contour of integration, the integral vanishes by Cauchys Theorem. 2. f (z) dz = z3 =

C k=1

k4

C k=0

z 4

1 dz z3

k 4 k3 z dz 4k

= =

C

1 dz + 4z 2

1 dz + z

C k=0

(k + 3)4 k z dz 4k+3

522

We can parameterize the rst integral to show that it vanishes. The second integral has the value 2 by the Cauchy-Goursat Theorem. The third integral vanishes by Cauchys Theorem as the integrand is analytic inside and on the contour. f (z) dz = 2 3 C z

523

You are not thinking. You are merely being logical. - Neils Bohr

12.1

12.1.1

Series of Constants

Denitions

lim an = a

n

for some constant a. If the limit does not exist, then the sequence diverges. Recall the denition of the limit in the above formula: For any > 0 there exists an N Z such that |a an | < for all n > N . Example 12.1.1 The sequence {sin(n)} is divergent. The sequence is bounded above and below, but boundedness does not imply convergence.

524

Cauchy Convergence Criterion. Note that there is something a little shy about the above denition. We should be able to say if a sequence converges without rst nding the constant to which it converges. We x this problem with the Cauchy convergence criterion. A sequence {an } converges if and only if for any > 0 there exists an N such that |an am | < for all n, m > N . The Cauchy convergence criterion is equivalent to the denition we had before. For some problems it is handier to use. Now we dont need to know the limit of a sequence to show that it converges. Convergence of Series. The series That is,

n=1

N 1

N 1 n=0

an , converges.

lim SN = lim

an = constant.

n=0

If the limit does not exist, then the series diverges. A necessary condition for the convergence of a series is that

n

lim an = 0.

(See Exercise 12.1.) Otherwise the sequence of partial sums would not converge. Example 12.1.2 The series (1)n = 1 1 + 1 1 + is divergent because the sequence of partial sums, n=0 {SN } = 1, 0, 1, 0, 1, 0, . . . is divergent.

Tail of a Series. An innite series, an , converges or diverges with its tail. That is, for xed N , an n=0 n=0 converges if and only if an converges. This is because the sum of the rst N terms of a series is just a number. n=N Adding or subtracting a number to a series does not change its convergence. Absolute Convergence. The series an converges absolutely if |an | converges. Absolute convergence n=0 n=0 implies convergence. If a series is convergent, but not absolutely convergent, then it is said to be conditionally convergent. 525

The terms of an absolutely convergent series can be rearranged in any order and the series will still converge to the same sum. This is not true of conditionally convergent series. Rearranging the terms of a conditionally convergent series may change the sum. In fact, the terms of a conditionally convergent series may be rearranged to obtain any desired sum. Example 12.1.3 The alternating harmonic series, 1 converges, (Exercise 12.4). Since 1+ 1 1 1 + + + 2 3 4 1 1 1 + + , 2 3 4

diverges, (Exercise 12.5), the alternating harmonic series is not absolutely convergent. Thus the terms can be rearranged to obtain any sum, (Exercise 12.6).

Finite Series and Residuals. Consider the series f (z) = terms in the series as

N 1

n=0

SN (z) =

n=0

an (z).

n=N

an (z).

12.1.2

Special Series

526

Geometric Series. One of the most important series in mathematics is the geometric series,

zn = 1 + z + z2 + z3 + .

n=0

The series clearly diverges for |z| 1 since the terms do not vanish as n . Consider the partial sum, SN (z) N 1 n n=0 z , for |z| < 1.

N 1

(1 z)SN (z) = (1 z)

N 1

zn

n=0 N

=

n=0

zn

n=1

zn

= 1 + z + + z N 1 z + z 2 + + z N = 1 zN

N 1

zn =

n=0

1 zN 1 1z 1z

as N .

1 . 1z

zn =

n=0

1 1z

n=1

1

1 1 1 = 1 + + + . n 2 3

The series is so named because the terms grow or decay geometrically. Each term in the series is a constant times the previous term.

527

The series is absolutely convergent for () > 1 and absolutely divergent for Riemann zeta function () is dened as the sum of the harmonic series.

() =

n=1

1 n

n=1

12.1.3

Convergence Tests

Result 12.1.1 The series of positive terms an converges if there exists a convergent series bn such that an bn for all n. Similarly, an diverges if there exists a divergent series bn such that an bn for all n.

Example 12.1.4 Consider the series

n=1

1 . 2n2 1 . 2n

528

n=1

1 = 1, 2n

Integral Test.

Result 12.1.2 If the coecients an of a series an are monotonically decreasing and n=0 can be extended to a monotonically decreasing function of the continuous variable x, a(x) = an for x Z0+ ,

a(x) dx.

0

1 n=1 n2 .

Dene the functions sl (x) and sr (x), (left and right), 1 , ( x )2 sr (x) = 1 . ( x )2

sl (x) =

Recall that x is the greatest integer function, the greatest integer which is less than or equal to x. x is the least integer function, the least integer greater than or equal to x. We can express the series as integrals of these functions.

n=1

1 = n2

sl (x) dx =

0 1

sr (x) dx

529

In Figure 12.1 these functions are plotted against y = 1/x2 . From the graph, it is clear that we can obtain a lower and upper bound for the series.

1 1

1 dx x2

n=1

1 1+ n2 1 2 n2

1 dx x2

1

n=1

1

n=1

1/n2 .

In general, we have

a(x) dx

m n=m

an am +

m

a(x) dx.

Thus we see that the sum converges or diverges with the integral. 530

an converges absolutely if

n

lim

an+1 < 1. an

If the limit is greater than unity, then the series diverges. If the limit is unity, the test fails.

If the limit is greater than unity, then the terms are eventually increasing with n. Since the terms do not vanish, the sum is divergent. If the limit is less than unity, then there exists some N such that an+1 r < 1 for all n N. an From this we can show that

n=0

|an | |aN |

n=N n=0

rn 1 1r

= |aN |

n=1

en . n!

531

We apply the ratio test to test for absolute convergence. en+1 n! an+1 = lim n n e (n + 1)! an e = lim n n + 1 =0

lim

n=1

1 , n2

which we know to be absolutely convergent. We apply the ratio test. an+1 1/(n + 1)2 = lim n an 1/n2 n2 = lim 2 n n + 2n + 1 1 = lim n 1 + 2/n + 1/n2 =1

lim

532

an converges absolutely if

n

If the limit is greater than unity, then the series diverges. If the limit is unity, the test fails. More generally, we can test that lim sup |an |1/n < 1.

If the limit is greater than unity, then the terms in the series do not vanish as n . This implies that the sum does not converge. If the limit is less than unity, then there exists some N such that |an |1/n r < 1 for all n N. We bound the tail of the series of |an |.

|an | =

n=N n=N

|an |1/n rn

n=N N

=

n=0

r 1r

an is absolutely convergent.

n a bn ,

n=0

533

where a and b are real constants. We use the root test to check for absolute convergence.

n

n

|b| exp

<1

Thus we see that the series converges absolutely for |b| < 1. Note that the value of a does not aect the absolute convergence. Example 12.1.9 Consider the absolutely convergent series,

n=1

1 . n2

1/n

1 = lim 2 n n

n

2

1/n

n 0

534

Raabes Test

an converges absolutely if

n

lim n 1

an+1 an

> 1.

If the limit is less than unity, then the series diverges or converges conditionally. If the limit is unity, the test fails.

Gauss Test

an . If an+1 L bn =1 + 2 an n n

where bn is bounded then the series converges absolutely if L > 1. Otherwise the series diverges or converges conditionally.

12.2

Uniform Convergence

Continuous Functions. A function f (z) is continuous in a closed domain if, given any > 0, there exists a > 0 such that |f (z) f ()| < for all |z | < in the domain. An equivalent denition is that f (z) is continuous in a closed domain if

z

for all z in the domain. Convergence. Consider a series in which the terms are functions of z, an (z). The series is convergent in a n=0 domain if the series converges for each point z in the domain. We can then dene the function f (z) = an (z). n=0 We can state the convergence criterion as: For any given > 0 there exists a function N (z) such that

N (z)1

n=0

an (z) <

for all z in the domain. Note that the rate of convergence, i.e. the number of terms, N (z) required for for the absolute error to be less than , is a function of z. Uniform Convergence. Consider a series an (z) that is convergent in some domain. If the rate of convergence n=0 is independent of z then the series is said to be uniformly convergent. Stating this a little more mathematically, the series is uniformly convergent in the domain if for any given > 0 there exists an N , independent of z, such that

N

n=1

an (z) <

12.2.1

Weierstrass M-test. The Weierstrass M-test is useful in determining if a series is uniformly convergent. The series n=0 an (z) is uniformly and absolutely convergent in a domain if there exists a convergent series of positive terms n=0 Mn such that |an (z)| Mn for all z in the domain. This condition rst implies that the series is absolutely convergent for all z in the domain. The condition |an (z)| Mn also ensures that the rate of convergence is independent of z, which is the criterion for uniform convergence. Note that absolute convergence and uniform convergence are independent. A series of functions may be absolutely convergent without being uniformly convergent or vice versa. The Weierstrass M-test is a sucient but not a necessary 536

condition for uniform convergence. The Weierstrass M-test can succeed only if the series is uniformly and absolutely convergent. Example 12.2.1 The series

f (x) =

n=1

sin x n(n + 1)

1 n2

sin x is uniformly and absolutely convergent for all real x because | n(n+1) | <

and

1 n=1 n2

converges.

Dirichlet Test. Consider a sequence of monotone decreasing, positive constants cn with limit zero. If all the partial sums of an (z) are bounded in some closed domain, that is

N

n=1

for all N , then cn an (z) is uniformly convergent in that closed domain. Note that the Dirichlet test does not n=1 imply that the series is absolutely convergent. Example 12.2.2 Consider the series,

n=1

sin(nx) . n

We cannot use the Weierstrass M-test to determine if the series is uniformly convergent on an interval. While it is easy to bound the terms with | sin(nx)/n| 1/n, the sum

n=1

1 n

537

does not converge. Thus we will try the Dirichlet test. Consider the sum in closed form. (See Exercise 12.9.)

N 1

N 1 n=1

sin(nx) =

n=1

0

cos(x/2)cos((N 1/2)x) 2 sin(x/2)

for x = 2k for x = 2k

The partial sums have innite discontinuities at x = 2k, k Z. The partial sums are bounded on any closed interval that does not contain an integer multiple of 2. By the Dirichlet test, the sum sin(nx) is uniformly convergent n=1 n on any such closed interval. The series may not be uniformly convergent in neighborhoods of x = 2k.

12.2.2

Consider a series f (z) = an (z) that is uniformly convergent in some domain and whose terms an (z) are continuous n=1 functions. Since the series is uniformly convergent, for any given > 0 there exists an N such that |RN | < for all z in the domain. Since the nite sum SN is continuous, for that there exists a > 0 such that |SN (z) SN ()| < for all in the domain satisfying |z | < . We combine these two results to show that f (z) is continuous. |f (z) f ()| = |SN (z) + RN (z) SN () RN ()| |SN (z) SN ()| + |RN (z)| + |RN ()| < 3 for |z | <

Result 12.2.1 A uniformly convergent series of continuous terms represents a continuous function.

Example 12.2.3 Again consider sin(nx) . In Example 12.2.2 we showed that the convergence is uniform in any n=1 n closed interval that does not contain an integer multiple of 2. In Figure 12.2 is a plot of the rst 10 and then 50 terms 538

in the series and nally the function to which the series converges. We see that the function has jump discontinuities at x = 2k and is continuous on any closed interval not containing one of those points.

sin(nx) . n=1 n

12.3

n=0 n=0

Domain of Convergence of a Power Series Consider the series n point z0 . Then |an z0 | is bounded by some constant A for all n, so

n |an z n | = |an z0 |

z z0

<A

z z0

This comparison test shows that the series converges absolutely for all z satisfying |z| < |z0 |. 539

Suppose that the series diverges at some point z1 . Then the series could not converge for any |z| > |z1 | since this would imply convergence at z1 . Thus there exists some circle in the z plane such that the power series converges absolutely inside the circle and diverges outside the circle.

Result 12.3.1 The domain of convergence of a power series is a circle in the complex plane.

Radius of Convergence of Power Series. Consider a power series

f (z) =

n=0

an z n

Applying the ratio test, we see that the series converges if |an+1 z n+1 | <l n |an z n | |an+1 | |z| < 1 lim n |an | |an | |z| < lim n |an+1 | lim

Result 12.3.2 Ratio formula. The radius of convergence of the power series

an z n

n=0

is

|an | n |an+1 |

540

Result 12.3.3 Cauchy-Hadamard formula. The radius of convergence of the power series:

an z n

n=0

is R=

1 lim sup

n

|an |

f (z) =

n=0

an z n

n that converges for z = z0 . Let M be the value of the greatest term, an z0 . Consider any point z such that |z| < |z0 |. n We can bound the residual of n=0 |an z |,

RN (z) =

n=N

|an z n | an z n n |an z0 | n an z0

=

n=N

M

n=N

z z0

541

N

Thus the power series is absolutely convergent for |z| < |z0 |.

Result 12.3.4 If the power series absolutely for |z| < |z0 |.

n n=0 an z

1.

n=1

nz n

2.

n=1

n!z n

3.

n=1

n!z n!

1. We apply the ratio test to determine the radius of convergence. R = lim The series converges absolutely for |z| < 1. 542 an n = lim =1 n n + 1 an+1

n

The series has a vanishing radius of convergence. It converges only for z = 0. 3. Again we apply the ration test to determine the radius of convergence. lim (n + 1)!z (n+1)! <1 n!z n!

n n

n

lim (ln(n + 1) + (n)n! ln |z|) < 0 ln |z| < lim ln(n + 1) n (n)n! ln |z| < 0 |z| < 1

The series converges absolutely for |z| < 1. Alternatively we could determine the radius of convergence of the series with the comparison test.

n!z

n=1

n!

n=1

|nz n |

543

nz n has a radius of convergence of 1. Thus the series must have a radius of convergence of at least 1. Note that if |z| > 1 then the terms in the series do not vanish as n . Thus the series must diverge for all |z| 1. Again we see that the radius of convergence is 1. Uniform Convergence of Power Series. Consider a power series an z n that converges in the disk |z| < r0 . n=0 The sum converges absolutely for z in the closed disk, |z| r < r0 . Since |an z n | |an rn | and |an rn | converges, n=0 the power series is uniformly convergent in |z| r < r0 .

n=1

n n=0 an z

log(1 z) =

n=1

zn . n

This series converges for |z| 1, z = 1. Is the series uniformly convergent in this domain? The residual after N terms RN is zn RN (z) = . n n=N +1 We can get a lower bound on the absolute value of the residual for real, positive z. |RN (x)| = xn n n=N +1

x d N +1 = Ei((N + 1) ln x) 544

Ei(z) =

z

et dt. t

The exponential integral function is plotted in Figure 12.3. Since Ei(z) diverges as z 0, by choosing x suciently close to 1 the residual can be made arbitrarily large. Thus this series is not uniformly convergent in the domain |z| 1, z = 1. The series is uniformly convergent for |z| r < 1.

-4

-3

-2

-1 -1 -2 -3

Analyticity. Recall that a sucient condition for the analyticity of a function f (z) in a domain is that C f (z) dz = 0 for all simple, closed contours in the domain. Consider a power series f (z) = an z n that is uniformly convergent in |z| r. If C is any simple, closed n=0 contour in the domain then C f (z) dz exists. Expanding f (z) into a nite series and a residual, f (z) dz =

C C

Since the series is uniformly convergent, for any given > 0 there exists an N such that |RN | < for all z in |z| r. Let L be the length of the contour C. RN (z) dz L 0 as N

C N 1

f (z) dz = lim

C

an z n + RN (z)

C n=0

dz

=

C n=0

an z n an

n=0 C

z n dz

12.4

Consider a power series f (z) = an z n that is convergent in the disk |z| < r0 . Let C be any contour of nite n=0 length L lying entirely within the closed domain |z| r < r0 . The integral of f (z) along C is f (z) dz =

C C

Since the series is uniformly convergent in the closed disk, for any given > 0, there exists an N such that |RN (z)| < for all |z| r. 546

C C

|RN (z)| dz

< L 0 as N Thus

N

f (z) dz = lim

C

an z n dz

C n=0 N

= lim

an

n=0 C

z n dz

=

n=0

an

C

z n dz

Result 12.4.1 If C is a contour lying in the domain of uniform convergence of the power series an z n then n=0

an z dz =

C n=0 n=0

an

C

z n dz.

In the domain of uniform convergence of a series we can interchange the order of summation and a limit process. That is,

zz0

lim

an (z) =

n=0 n=0

zz0

lim an (z).

We can do this because the rate of convergence does not depend on z. Since dierentiation is a limit process, d f (z + h) f (z) f (z) = lim , h0 dz h 547

we would expect that we could dierentiate a uniformly convergent series. Since we showed that a uniformly convergent power series is equal to an analytic function, we can dierentiate a power series in its domain of uniform convergence.

Result 12.4.2 Power series can be dierentiated in their domain of uniform convergence. d dz

an z =

n=0 n=0

(n + 1)an+1 z n .

Example 12.4.1 Dierentiating a Series. Consider the series from Example 12.3.2.

log(1 z) =

n=1

zn n

zn

n=0

The geometric series is convergent for |z| < 1 and uniformly convergent for |z| r < 1. Note that the domain of convergence is dierent than the series for log(1 z). The geometric series does not converge for |z| = 1, z = 1. However, the domain of uniform convergence has remained the same.

548

12.5

Taylor Series

Result 12.5.1 Taylors Theorem. Let f (z) be a function that is single-valued and analytic in |z z0 | < R. For all z in this open disk, f (z) has the convergent Taylor series

f (z) =

n=0

f (n) (z0 ) (z z0 )n . n!

(12.1)

f (z) =

n=0

an (z z0 ) ,

f (n) (z0 ) 1 an = = n! 2

(12.2)

where C is a simple, positive, closed contour in 0 < |z z0 | < R that goes once around the point z0 .

Proof of Taylors Theorem. Lets see why Result 12.5.1 is true. Consider a function f (z) that is analytic in |z| < R. (Considering z0 = 0 is only trivially more general as we can introduce the change of variables = z z0 .) According to Cauchys Integral Formula, (Result ??), 1 2 f () d, z

f (z) =

(12.3)

where C is a positive, simple, closed contour in 0 < | z| < R that goes once around z. We take this contour to be the circle about the origin of radius r where |z| < r < R. (See Figure 12.4.) 549

Im(z)

r C

R Re(z) z

We expand

1 z

in a geometric series, 1 1/ = z 1 z/ 1 = =

n=0

n=0 n

z ,

n+1

C

f (z) =

n=0

f ()z n n+1

550

=

n=0

zn 2

f () d n+1

Now we have derived Equation 12.2. To obtain Equation 12.1, we apply Cauchys Integral Formula.

=

n=0

f (n) (0) n z n!

There is a table of some commonly encountered Taylor series in Appendix H. Example 12.5.1 Consider the Taylor series expansion of 1/(1 z) about z = 0. Previously, we showed that this function is the sum of the geometric series z n and we used the ratio test to show that the series converged n=0 absolutely for |z| < 1. Now we nd the series using Taylors theorem. Since the nearest singularity of the function is at z = 1, the radius of convergence of the series is 1. The coecients in the series are 1 dn 1 an = n! dz n 1 z z=0 1 n! = n! (1 z)n z=0 =1 Thus we have 1 = 1z

zn,

n=0

551

12.5.1

a r

a(a 1)(a 2) (a r + 1) . r!

If a is complex, then the expansion is of the principle branch of (1 + z)a . We dene r 0 = 1, 0 r = 0, for r = 0, 0 0 = 1.

Example 12.5.2 Evaluate limn (1 + 1/n)n . First we expand (1 + 1/n)n using Newtons binomial formula. lim 1 1+ n

n

x

lim

1 1+ x

1/x2 1+1/x lim x 1/x2

=1 lim 1 1+ x

x

=e

Example 12.5.3 Find the Taylor series expansion of 1/(1 + z) about z = 0. For |z| < 1, 1 1 1 2 1 3 z + =1+ z+ z + 1+z 1 2 3 = 1 + (1)1 z + (1)2 z 2 + (1)3 z 3 + = 1 z + z2 z3 + Example 12.5.4 Find the rst few terms in the Taylor series expansion of about the origin. 553 1 z 2 + 5z + 6

We factor the denominator and then apply Newtons binomial formula. 1 1 1 = z+3 z+2 z 2 + 5z + 6 1 1 = 3 1 + z/3 2 1 + z/2 1/2 z 2 1 1/2 z + = 1+ + 1 3 2 3 6 z z2 1 z 3z 2 = 1 + + 1 + + 6 24 4 32 6 5 17 1 = 1 z + z2 + 12 96 6

1+

1/2 z 1/2 + 1 2 2

z 2

12.6

Laurent Series

Result 12.6.1 Let f (z) be single-valued and analytic in the annulus R1 < |z z0 | < R2 . For points in the annulus, the function has the convergent Laurent series

f (z) =

n=

an z n ,

where

1 f (z) dz 2 C (z z0 )n+1 and C is a positively oriented, closed contour around z0 lying in the annulus. an =

To derive this result, consider a function f () that is analytic in the annulus R1 < || < R2 . Consider any point z 554

in the annulus. Let C1 be a circle of radius r1 with R1 < r1 < |z|. Let C2 be a circle of radius r2 with |z| < r2 < R2 . Let Cz be a circle around z, lying entirely between C1 and C2 . (See Figure 12.5 for an illustration.) Consider the integral of points outside the annulus,

f () z

f () z

occur at = z and at

C2

Cz

C1

Cz

f (z) =

(12.4)

C2

C1

n=0

n=0 n

z ,

n+1

555

n=0 1

1 z

n=0 n

, z n+1 zn n+1 ,

=

n=

C2

n=0

f ()z n n+1

1 d + 2

C1

f ()z n n+1 n=

Since the sums converge uniformly, we can interchange the order of integration and summation. 1 f (z) = 2

C2

n=0

f ()z n 1 d + n+1 2

1 C1

n=

f ()z n d n+1

Since the only singularities of the integrands lie outside of the annulus, the C1 and C2 contours can be deformed to any positive, closed contour C that lies in the annulus and encloses the origin. (See Figure 12.5.) Finally, we combine the two integrals to obtain the desired result. f (z) = 1 2 n=

f () d z n n+1

Im(z)

Im(z)

r2 r1 C1 C2

R2 R1 z Cz

R2 R1

Re(z)

Re(z) C

Example 12.6.1 Find the Laurent series expansions of 1/(1 + z). For |z| < 1,

558

12.7

12.7.1

Exercises

Series of Constants

Exercise 12.1 Show that if an converges then limn an = 0. That is, limn an = 0 is a necessary condition for the convergence of the series. Hint, Solution Exercise 12.2 Answer the following questions true or false. Justify your answers. 1. There exists a sequence which converges to both 1 and 1. 2. There exists a sequence {an } such that an > 1 for all n and limn an = 1. 3. There exists a divergent geometric series whose terms converge. 4. There exists a sequence whose even terms are greater than 1, whose odd terms are less than 1 and that converges to 1. 5. There exists a divergent series of non-negative terms,

n=0

6. There exists a convergent sequence, {an }, such that limn (an+1 an ) = 0. 7. There exists a divergent sequence, {an }, such that limn |an | = 2. 8. There exists divergent series, an and bn , such that (an + bn ) is convergent.

9. There exists 2 dierent series of nonzero terms that have the same sum. 10. There exists a series of nonzero terms that converges to zero. 11. There exists a series with an innite number of non-real terms which converges to a real number. 559

12. There exists a convergent series 13. There exists a divergent series 14. There exists a convergent series 15. There exists a divergent series

an with limn |an+1 /an | = 1. an with limn |an+1 /an | = 1. an with limn an with limn

n n

|an | = 1.

16. There exists a convergent series of non-negative terms, 17. There exists a convergent series of non-negative terms, 18. There exists a convergent series, 19. There exists a power series 20. There exists a power series Hint, Solution Exercise 12.3 Determine if the following series converge.

an , for which

|an | diverges.

an (z z0 )n which converges for z = 0 and z = 3 but diverges for z = 2. an (z z0 )n which converges for z = 0 and z = 2 but diverges for z = 2.

1.

n=2

1 n ln(n) 1 ln (nn ) ln n ln n

2.

n=2

3.

n=2

560

4.

5.

n=1

6.

n=0

7.

n=0

8.

n=0

9.

n=2

10.

n=2

11.

n=2

12.

n=2

13.

n=2

14.

n=2

n! (ln n)n en ln(n!) (n!)2 (n2 )! n8 + 4n4 + 8 3n9 n5 + 9n 1 1 n n+1 cos(n) n ln n n11/10

15.

n=2

16.

n=1

17.

n=1

18.

n=1

19.

n=1

20.

n=2

Hint, Solution Exercise 12.4 (mathematica/fcv/series/constants.nb) Show that the alternating harmonic series,

n=1

1 1 1 (1)n+1 = 1 + + , n 2 3 4

n=1

1 n

is divergent with the Cauchy convergence criterion. Hint, Solution Exercise 12.6 The alternating harmonic series has the sum:

n=1

(1)n = ln(2). n

Show that the terms in this series can be rearranged to sum to . Hint, Solution Exercise 12.7 (mathematica/fcv/series/constants.nb) Is the series, n! , nn n=1 convergent? Hint, Solution Exercise 12.8 Show that the harmonic series,

n=1

1 1 1 = 1 + + + , n 2 3

Exercise 12.9 Evaluate N 1 sin(nx). n=1 Hint, Solution Exercise 12.10 Evaluate

n n

kz

k=1

and

k=1

k2z k

for z = 1. Hint, Solution Exercise 12.11 Which of the following series converge? Find the sum of those that do. 1. 1 1 1 1 + + + + 2 6 12 20

2. 1 + (1) + 1 + (1) +

3.

n=1

1 2n1

1 1 3n 5n+1

k1 =0 k2 =k1 kn =kn1

1 2kn

12.7.2 12.7.3

1.

n=0

2.

n=2

3.

n=1

4.

n=1

5.

n=1

6.

n=1

7.

n=0

8.

n=0

9.

n=0

(z )2n+1 n n! ln n zn

10.

n=0

Hint, Solution Exercise 12.14 Find the circle of convergence of the following series. 1. z + ( )

z3 z4 z2 + ( )( 2) + ( )( 2)( 3) + 2! 3! 4!

2.

n=1

n (z )n 2n nn z n

3.

n=1

4.

n=1

n! n z nn (3 + (1)n )n z n

5.

n=1

6.

n=1

(n + n ) z n

(|| > 1)

1.

k=0

kz k

2.

k=1

kk z k k! k z kk (z + 5)2k (k + 1)2

k=0

3.

k=1

4.

5.

k=0

(k + 2k )z k

Hint, Solution

12.7.4

Exercise 12.16 Using the geometric series, show that 1 = (1 z)2 and log(1 z) =

n=1

(n + 1)z n ,

n=0

zn , n

567

Hint, Solution

12.7.5

Taylor Series

Exercise 12.17 1 Find the Taylor series of 1+z2 about the z = 0. Determine the radius of convergence of the Taylor series from the singularities of the function. Determine the radius of convergence with the ratio test. Hint, Solution Exercise 12.18 Use two methods to nd the Taylor series expansion of log(1 + z) about z = 0 and determine the circle of convergence. First directly apply Taylors theorem, then dierentiate a geometric series. Hint, Solution Exercise 12.19 Let f (z) = (1 + z) be the branch for which f (0) = 1. Find its Taylor series expansion about z = 0. What is the radius of convergence of the series? ( is an arbitrary complex number.) Hint, Solution Exercise 12.20 Find the Taylor series expansions about the point z = 1 for the following functions. What are the radii of convergence? 1. 1 z

2. Log z 3. 1 z2

Exercise 12.21 Find the Taylor series expansion about the point z = 0 for ez . What is the radius of convergence? Use this to nd the Taylor series expansions of cos z and sin z about z = 0. Hint, Solution Exercise 12.22 Find the Taylor series expansion about the point z = for the cosine and sine. Hint, Solution Exercise 12.23 Sum the following series.

1.

n=0

(ln 2)n n! (n + 1)(n + 2) 2n (1)n n! (1)n 2n+1 (2n + 1)! (1)n 2n (2n)! ()n (2n)!

2.

n=0

3.

n=0

4.

n=0

5.

n=0

6.

n=0

Exercise 12.24 1. Find the rst three terms in the following Taylor series and state the convergence properties for the following. (a) ez around z0 = 0 (b) 1+z around z0 = 1z ez (c) around z0 = 0 z1

It may be convenient to use the Cauchy product of two Taylor series. 2. Consider a function f (z) analytic for |z z0 | < R. Show that the series obtained by dierentiating the Taylor series for f (z) termwise is actually the Taylor series for f (z) and hence argue that this series converges uniformly to f (z) for |z z0 | < R. 3. Find the Taylor series for 1 (1 z)3 by appropriate dierentiation of the geometric series and state the radius of convergence. 4. Consider the branch of f (z) = (z + 1) corresponding to f (0) = 1. Find the Taylor series expansion about z0 = 0 and state the radius of convergence. Hint, Solution

12.7.6

Laurent Series

Exercise 12.25 Find the Laurent series about z = 0 of 1/(z ) for |z| < 1 and |z| > 1. Hint, Solution 570

Exercise 12.26 Obtain the Laurent expansion of f (z) = centered on z = 0 for the three regions: 1. |z| < 1 2. 1 < |z| < 2 3. 2 < |z| Hint, Solution Exercise 12.27 By comparing the Laurent expansion of (z + 1/z)m , m Z+ , with the binomial expansion of this quantity, show that

2

1 (z + 1)(z + 2)

(cos )m cos(n) d =

0

m 2m1 (mn)/2

Hint, Solution Exercise 12.28 The function f (z) is analytic in the entire z-plane, including , except at the point z = /2, where it has a simple pole, and at z = 2, where it has a pole of order 2. In addition f (z) dz = 2,

|z|=1 |z|=3

f (z) dz = 0,

|z|=3

(z 1)f (z) dz = 0.

Find f (z) and its complete Laurent expansion about z = 0. Hint, Solution 571

Exercise 12.29 k Let f (z) = k 3 z . Compute each of the following, giving justication in each case. The contours are circles of k=1 3 radius one about the origin. 1.

|z|=1

2.

|z|=1

3.

|z|=1

1 z(1z)

(a) 0 < |z| < 1 (b) |z| > 1 (c) |z + 1| > 2 2. Without determining the series, specify the region of convergence for a Laurent series representing f (z) = 1/(z 4 + 4) in powers of z 1 that converges at z = . Hint, Solution

572

12.8

Hints

Hint 12.1 Use the Cauchy convergence criterion for series. In particular, consider |SN +1 SN |. Hint 12.2 CONTINUE Hint 12.3 1.

n=2

1 n ln(n)

n=2

1 ln (nn )

ln

n=2

ln n

5.

n=1

ln (2n ) ln (3n ) + 1

n=0

1 ln(n + 20)

n=0

4n + 1 3n 2

(Log 2)n

n=0

n=2

n2 1 n4 1

n=2

n2 (ln n)n

11.

(1)n ln

n=2

1 n

n=2

(n!)2 (2n)!

n=2

3n + 4n + 5 5n 4n 3

n=2

n! (ln n)n

n=2

en ln(n!)

n=1

(n!)2 (n2 )!

17.

n=1

n8 + 4n4 + 8 3n9 n5 + 9n

n=1

1 1 n n+1

n=1

cos(n) n

n=2

ln n n11/10

Use the integral test. Hint 12.4 Group the terms. 1 1 1 = 2 2 1 1 1 = 3 4 12 1 1 1 = 5 6 30 576

Hint 12.5 Show that 1 |S2n Sn | > . 2 Hint 12.6 The alternating harmonic series is conditionally convergent. Let {an } and {bn } be the positive and negative terms in the sum, respectively, ordered in decreasing magnitude. Note that both an and bn are divergent. Devise a n=1 n=1 method for alternately taking terms from {an } and {bn }. Hint 12.7 Use the ratio test. Hint 12.8 Use the integral test. Hint 12.9 Note that sin(nx) = (enx ). This substitute will yield a nite geometric series. Hint 12.10 Let Sn be the sum. Consider Sn zSn . Use the nite geometric sum. Hint 12.11 1. The summand is a rational function. Find the rst few partial sums. 2. 3. This a geometric series. Hint 12.12 CONTINUE

577

1.

n=0

2.

n=2

3.

n=1

4.

n=1

5.

n=1

6.

n=1

7.

n=0

8.

n=0

9.

n=0

10.

n=0

ln n zn

Hint 12.14 Hint 12.15 CONTINUE Hint 12.16 Dierentiate the geometric series. Integrate the geometric series. Hint 12.17 The Taylor series is a geometric series. Hint 12.18 Hint 12.19 Hint 12.20 1. 1 1 = z 1 + (z 1) The right side is the sum of a geometric series. 2. Integrate the series for 1/z. 3. Dierentiate the series for 1/z. 4. Integrate the series for Log z. 579

Hint 12.21 Evaluate the derivatives of ez at z = 0. Use Taylors Theorem. Write the cosine and sine in terms of the exponential function. Hint 12.22 cos z = cos(z ) sin z = sin(z ) Hint 12.23 CONTINUE Hint 12.24 CONTINUE Hint 12.25 Hint 12.26 Hint 12.27 Hint 12.28 Hint 12.29 Hint 12.30 CONTINUE 580

12.9

Solutions

Solution 12.1 n=0 an converges only if the partial sums, Sn , are a Cauchy sequence. > 0 N s.t. m, n > N |Sm Sn | < , In particular, we can consider m = n + 1. > 0 N s.t. n > N |Sn+1 Sn | < Now we note that Sn+1 sn = an . > 0 N s.t. n > N |an | < This is exactly the Cauchy convergence criterion for the sequence {an }. Thus we see that limn an = 0 is a necessary condition for the convergence of the series an . n=0 Solution 12.2 CONTINUE Solution 12.3 1.

n=2

1 n ln(n)

ln 2

Since this is a series of positive, monotone decreasing terms, the sum converges or diverges with the integral,

2

1 dx = x ln x

1 d

n=2

1 = ln (nn ) 581

n=2

1 n ln(n)

ln

n=2

ln n =

n=2

1 ln(ln n) n

n=2

1 n

The sum is divergent by the comparison test. 4. 1 n(ln n)(ln(ln n)) n=10 Since this is a series of positive, monotone decreasing terms, the sum converges or diverges with the integral,

10

1 dx = x ln x ln(ln x)

ln(10)

1 dy = y ln y

ln(ln(10))

1 dz z

n=1

ln (2n ) = ln (3n ) + 1

n=1

n ln 2 = n ln 3 + 1

n=1

ln 2 ln 3 + 1/n

Since the terms in the sum do not vanish as n , the series is divergent. 6.

n=0

n=0

4n + 1 3n 2

Since the terms in the sum do not vanish as n , the series is divergent. 582

8.

(Log 2)n

n=0

n=2

n2 1 = n4 1

n=2

1 < 2+1 n

n=2

1 n2

n=2

n2 = (ln n)n

n=2

n2/n ln n

Since n2/n 1 as n , n2/n / ln n 0 as n . The series converges by comparison to a geometric series. 11. We group pairs of consecutive terms to obtain a series of positive terms.

(1) ln

n=2

1 n

=

n=1

ln

1 2n

ln

1 2n + 1

=

n=1

ln

2n + 1 2n

The series on the right side diverges because the terms do not vanish as n . 12.

n=2

(n!)2 = (2n)!

n=2

n=2

1 2n

13.

n=2

3n + 4n + 5 5n 4n 3

We use the root test to check for convergence. lim |an |1/n = lim = lim 3n + 4n + 5 5n 4n 3

1/n

4 (3/4)n + 1 + 5/4n n 5 1 (4/5)n 3/5n 4 = 5 <1 We see that the series is absolutely convergent. 14. We will use the comparison test.

1/n

n=2

n=2

n=2

n/2 ln n

Since the terms in the series on the right side do not vanish as n , the series is divergent. 15. We will use the comparison test.

n=2

en > ln(n!)

n=2

en = ln(nn )

n=2

en n ln(n)

Since the terms in the series on the right side do not vanish as n , the series is divergent. 584

16.

n=1

(n!)2 (n2 )!

We apply the ratio test. lim ((n + 1)!)2 (n2 )! an+1 = lim n ((n + 1)2 )!(n!)2 an (n + 1)2 = lim n ((n + 1)2 n2 )! (n + 1)2 = lim n (2n + 1)! =0

n=1

n=1

1 4

n=1

We see that the series is divergent by comparison to the harmonic series. 18.

n=1

1 1 n n+1

=

n=1

1 < 2+n n

n=1

1 n2

19.

n=1

cos(n) = n

n=1

(1)n n

We recognize this as the alternating harmonic series, which is conditionally convergent. 20.

n=2

ln n n11/10

Since this is a series of positive, monotone decreasing terms, the sum converges or diverges with the integral,

2

ln x dx = x11/10

y ey/10 dy

ln 2

n=1

(1)n+1 = n =

n=1

n=1

n=1

12

n=1 2

586

2n1

|S2n Sn | =

j=n 2n1

1 j

j=n

1 2n 1

n 2n 1 1 > 2 = the series does not satisfy the Cauchy convergence criterion. Solution 12.6 The alternating harmonic series is conditionally convergent. That is, the sum is convergent but not absolutely convergent. Let {an } and {bn } be the positive and negative terms in the sum, respectively, ordered in decreasing magnitude. Note that both an and bn are divergent. Otherwise the alternating harmonic series would be absolutely n=1 n=1 convergent. To sum the terms in the series to we repeat the following two steps indenitely: 1. Take terms from {an } until the sum is greater than . 2. Take terms from {bn } until the sum is less than . Each of these steps can always be accomplished because the sums, an and bn are both divergent. Hence the n=1 n=1 tails of the series are divergent. No matter how many terms we take, the remaining terms in each series are divergent. In each step a nite, nonzero number of terms from the respective series is taken. Thus all the terms will be used. Since the terms in each series vanish as n , the running sum converges to .

587

Solution 12.7 Applying the ratio test, an+1 (n + 1)!nn lim = lim n n n!(n + 1)(n+1) an nn = lim n (n + 1)n n n = lim n (n + 1) 1 = e < 1, we see that the series is absolutely convergent. Solution 12.8 The harmonic series,

n=1

1 1 1 = 1 + + + , n 2 3

1

1 dx = |x |

1 x

()

dx =

[ln x] 1

x1 () 1 ()

for

for

1

588

Solution 12.9

N 1

N 1

sin(nx) =

n=1 n=0 N 1

sin(nx) (enx )

n=0 N 1

=

n=0

(ex )n (N )

1enx 1ex

= 0

for x = 2k for x = 2k

0

ex/2 e(N 1/2)x 2 sin(x/2)

for x = 2k for x = 2k

0

ex/2 e(N 1/2)x 2 sin(x/2)

for x = 2k

N 1

sin(nx) =

n=1

0

cos(x/2)cos((N 1/2)x) 2 sin(x/2)

for x = 2k for x = 2k

589

n

Sn =

k=1 n

kz k .

n

Sn zSn =

k=1 n

kz

k=1 n+1

kz k+1 (k 1)z k

k=2

=

k=1 n

kz k

=

k=1

=

n

kz k =

k=1

n

Let Sn =

k2z k .

k=1

Sn zSn = =2

(k 2 (k 1)2 )z k n2 z n+1

k=1 n n

kz

k=1 k=1

z k n2 z n+1

k2z k =

k=1

Solution 12.11 1.

an =

n=1

1 1 1 1 + + + + 2 6 12 20

We conjecture that the terms in the sum are rational functions of summation index. That is, an = 1/p(n) where p(n) is a polynomial. We use divided dierences to determine the order of the polynomial. 2 4 2 6 6 2 12 8 20

We see that the polynomial is second order. p(n) = an2 + bn + c. We solve for the coecients. a+b+c=2 4a + 2b + c = 6 9a + 3b + c = 12 p(n) = n2 + n We examine the rst few partial sums. S1 = 1 2 2 S2 = 3 3 S3 = 4 4 S4 = 5

591

We conjecture that Sn = n/(n+1). We prove this with induction. The base case is n = 1. S1 = 1/(1+1) = 1/2. Now we assume the induction hypothesis and calculate Sn+1 . Sn+1 = Sn + an+1 n 1 = + 2 + (n + 1) n + 1 (n + 1) n+1 = n+2 This proves the induction hypothesis. We calculate the limit of the partial sums to evaluate the series.

n=1

n2

1 n = lim n n + 1 +n 1 =1 +n

n=1

n2

2.

n=0

Since the terms in the series do not vanish as n , the series is divergent. 3. We can directly sum this geometric series.

n=1

CONTINUE 592

kn =kn1

k1 =0 k2 =k1 kn =kn1

1 =2 2kn k

1 =0

1 2kn1

k2 =k1

kn1 =kn2

k1 =0 k2 =k1 kn =kn1

1 = 2n 2kn

1.

n=0

2.

n=2

3.

n=1

4.

n=1

5.

n=1

6.

n=1

7.

n=0

8.

n=0

9.

n=0

10.

n=0

Solution 12.14 1. We assume that = 0. We determine the radius of convergence with the ratio test. R = lim an n an+1 ( ) ( (n 1))/n! = lim n ( ) ( n)/(n + 1)! n+1 = lim n n 1 = || 594

The series converges absolutely for |z| < 1/||. 2. By the ratio test formula, the radius of absolute convergence is R = lim n/2n n (n + 1)/2n+1 n = 2 lim n n + 1 =2

By the root test formula, the radius of absolute convergence is R= 1 limn n |n/2n | 2 = limn n n =2

The series converges absolutely for |z | < 2. 3. We determine the radius of convergence with the Cauchy-Hadamard formula. R= = 1 lim sup n |an | 1

lim sup n |nn | 1 = lim sup n =0 The series converges only for z = 0. 595

4. By the ratio test formula, the radius of absolute convergence is R = lim = lim

n

n!/nn (n + 1)!/(n + 1)n+1 (n + 1)n nn n n+1 n n n+1 lim ln n n n+1 lim n ln n n ln(n + 1) ln(n) lim n 1/n 1/(n + 1) 1/n lim n 1/n2 n lim n n + 1

The series converges absolutely in the circle, |z| < e. 5. By the Cauchy-Hadamard formula, the radius of absolute convergence is 1 R= n lim sup | (3 + (1)n )n | 1 = lim sup (3 + (1)n ) 1 = 4 596

Thus the series converges absolutely for |z| < 1/4. 6. By the Cauchy-Hadamard formula, the radius of absolute convergence is R= = 1 lim sup

n

|n + n | 1

lim sup || n |1 + n/n | 1 = || Thus the sum converges absolutely for |z| < 1/||. Solution 12.15 1.

kz k

k=0

We determine the radius of convergence with the ratio formula. R = lim k k k + 1 1 = lim k 1 =1

kk z k

k=1

597

We determine the radius of convergence with the Cauchy-Hadamard formula. R= 1 lim sup k |k k | 1 = lim sup k =0

k=1

k! k z kk

We determine the radius of convergence with the ratio formula. R = lim k!/k k k (k + 1)!/(k + 1)(k+1) (k + 1)k = lim k kk k+1 = exp lim k ln k k ln(k + 1) ln(k) = exp lim k 1/k 1/(k + 1) 1/k = exp lim k 1/k 2 k = exp lim k k + 1 = exp(1) =e 598

(z + 5)2k (k + 1)2

k=0

We use the ratio formula to determine the domain of convergence. (z + 5)2(k+1) (k + 2)2 <1 k (z + 5)2k (k + 1)2 (k + 2)2 |z + 5|2 lim <1 k (k + 1)2 2(k + 2) |z + 5|2 lim <1 k 2(k + 1) 2 |z + 5|2 lim < 1 k 2 |z + 5|2 < 1 lim 5.

(k + 2k )z k

k=0

We determine the radius of convergence with the Cauchy-Hadamard formula. R= = 1 lim sup

k

|k + 2k | 1

zn.

n=0

This series is uniformly convergent in the domain, |z| r < 1. Dierentiating this equation yields, 1 = (1 z)2 =

n=0

nz n1

n=1

(n + 1)z n

log(1 z) =

n=0

log(1 z) =

n=1

z , n

1 1+z 2

z

n=0

2 n

=

n=0

(1)n z 2n

1 (1z)(1+z)

has singularities at z = . Thus the radius of convergence is 1. Now we use the ratio 600

test to corroborate that the radius of convergence is 1. an+1 (z) <1 n an (z) (1)n+1 z 2(n+1) lim <1 n (1)n z 2n lim z 2 < 1 lim

n

|z| < 1 Solution 12.18 Method 1. log(1 + z) = [log(1 + z)]z=0 + d z d2 z2 log(1 + z) + log(1 + z) + dz dz 2 z=0 1! z=0 2! z 1 z2 2 z3 1 =0+ + + + 1 + z z=0 1! (1 + z)2 z=0 2! (1 + z)3 z=0 3! z2 z3 z4 =z + + 2 3 4 n n+1 z = (1) n n=1

Since the nearest singularity of log(1 + z) is at z = 1, the radius of convergence is 1. Method 2. We know the geometric series converges for |z| < 1. 1 = 1+z

(1)n z n

n=0

We integrate this equation to get the series for log(1 + z) in the domain |z| < 1. z n+1 = log(1 + z) = (1) n+1 n=0

n

(1)n+1

n=1

zn n

601

We calculate the radius of convergence with the ratio test. R = lim an (n + 1) = lim =1 n an+1 n

Thus the series converges absolutely for |z| < 1. Solution 12.19 The Taylor series expansion of f (z) about z = 0 is

f (z) =

n=0

f (n) (0) n z . n!

n1

(n)

(z) =

k=0

( k) (1 + z)n .

n1

(n)

(0) =

k=0

( k).

If = m is a non-negative integer, then only the rst m + 1 terms are nonzero. The Taylor series is a polynomial and the series has an innite radius of convergence.

m

(1 + z) =

n=0

n1 k=0 (

k)

n!

zn

If is not a non-negative integer, then all of the terms in the series are non-zero.

(1 + z) =

n=0

n1 k=0 (

k)

n!

zn

602

The radius of convergence of the series is the distance to the nearest singularity of (1 + z) . This occurs at z = 1. Thus the series converges for |z| < 1. We can corroborate this with the ratio test. The radius of convergence is R = lim

n1 k=0 ( n k=0 (

If we use the binomial coecient, we can write the series in a compact form. n

n1 k=0 (

k) n z n

n!

(1 + z) =

n=0

Solution 12.20 1. We nd the series for 1/z by writing it in terms of z 1 and using the geometric series. 1 1 = z 1 + (z 1) 1 = z

(1)n (z 1)n

n=0

for |z 1| < 1

Since the nearest singularity is at z = 0, the radius of convergence is 1. The series converges absolutely for |z 1| < 1. We could also determine the radius of convergence with the Cauchy-Hadamard formula. R= = 1 lim sup

n

|an | |(1)n |

1

n

z 1

1 d = [Log ]z = Log z 1

The series we derived for 1/z is uniformly convergent for |z 1| r < 1. We can integrate the series in this domain.

z

Log z =

1 n=0

(1)n ( 1)n d

z

=

n=0

(1)

n 1

=

n=0

(1)n

Log z =

n=1

(1)n1 (z 1)n n

for |z 1| < 1

3. The series we derived for 1/z is uniformly convergent for |z 1| r < 1. We can dierentiate the series in this domain. 1 d 1 = 2 z dz z d = (1)n (z 1)n dz n=0

=

n=1

604

1 = z2

n=0

for |z 1| < 1

z

1

The series we derived for Log z is uniformly convergent for |z 1| r < 1. We can integrate the series in this domain.

z

z Log z z = = 1 +

1

Log d

z

= 1 +

1 n=1

(1)n1 ( 1)n d n

= 1 +

n=1

z Log z z = 1 +

n=2

=1

z=0

ez =

n=0

zn n!

605

Since the exponential function has no singularities in the nite complex plane, the radius of convergence is innite. We nd the Taylor series for the cosine and sine by writing them in terms of the exponential function. cos z = ez + ez 2 1 (z)n (z)n = + 2 n=0 n! n! n=0

=

n=0 even n

(z)n n!

cos z =

n=0

(1)n z 2n (2n)!

sin z =

=

n=0 odd n

(z)n n!

sin z =

n=0

606

=

n=0

=

n=0

sin z = sin(z )

=

n=0

=

n=0

Solution 12.23 CONTINUE Solution 12.24 1. (a) f (z) = ez f (0) = 1 f (0) = 1 f (0) = 1 z2 + O z3 2 is entire, the Taylor series converges in the complex plane. ez = 1 z + 607

Since ez

(b) 1+z , f () = 1z 2 f (z) = , f () = (1 z)2 4 f (z) = , f () = 1 + (1 z)3 f (z) = 1+z 1 + = + (z ) + (z )2 + O (z )3 1z 2 Since the nearest singularity, (at z = 1), is a distance of 2 from z0 = , the radius of convergence is 2. The series converges absolutely for |z | < 2. (c) ez z2 = 1+z+ + O z3 z1 2 5 2 = 1 2z z + O z 3 2 1 + z + z2 + O z3

Since the nearest singularity, (at z = 1), is a distance of 1 from z0 = 0, the radius of convergence is 1. The series converges absolutely for |z| < 1. 2. Since f (z) is analytic in |z z0 | < R, its Taylor series converges absolutely on this domain.

f (z) =

n=0

f (n) (z0 )z n n!

The Taylor series converges uniformly on any closed sub-domain of |z z0 | < R. We consider the sub-domain 608

|z z0 | < R. On the domain of uniform convergence we can interchange dierentiation and summation. d f (z) = dz

n=0

f (n) (z0 )z n n!

f (z) =

n=1

f (z) =

n=0

Note that this is the Taylor series that we could obtain directly for f (z). Since f (z) is analytic on |z z0 | < R so is f (z).

f (z) =

n=0

f (n+1) (z0 )z n n!

3. 1 d2 1 1 = 2 (1 z)3 dz 2 1 z 1 d2 = 2 dz 2 = = 1 2 1 2

zn

n=0

n(n 1)z n2

n=2

(n + 2)(n + 1)z n

n=0

The radius of convergence is 1, which is the distance to the nearest singularity at z = 1. 609

f (z) =

n=0

f (n) (0) n z . n!

n1

(n)

(z) =

k=0

( k) (1 + z)n .

n1

(n)

(0) =

( k)

k=0 n1 k=0 (

(1 + z) =

n=0

k)

n!

zn

The radius of convergence of the series is the distance to the nearest singularity of (1 + z) . This occurs at z = 1. Thus the series converges for |z| < 1. We can corroborate this with the ratio test. We compute the radius of convergence. n1 n+1 k=0 ( k) /n! R = lim = lim =1 n n ( n n k=0 ( k)) /(n + 1)! If we use the binomial coecient, n then we can write the series in a compact form.

n1 k=0 (

k)

n!

(1 + z) =

n=0

n z n

610

=

n=0

(z)n

(Note that |z| < 1 | z| < 1.) For |z| > 1: 1 1 1 = z z (1 /z) (Note that |z| > 1 | /z| < 1.) 1 = z =

1 n z n z n=

0

n=0 0

=

1

()n z n1

n=

()n+1 z n

n=

=

n=0

(z)n , (1)n z n ,

n=0

1/z 1 = 1+z 1 + 1/z = = = The Taylor series about z = 0 for 1/(z + 2) is 1 1/2 = 2+z 1 + z/2 1 = 2 =

n=0

1 z

(1/z)n , (1)n z n1 ,

n=0

n=0 1

(1)n+1 z n ,

n=

n=0

612

(2/z)n ,

n=0

n=0 1

To nd the expansions in the three regions, we just choose the appropriate series. 1. f (z) = =

n=0

1 1 1+z 2+z

(1)n z n

n=0

=

n=0

(1)n 1

1 2n+1

f (z) =

n=0

(1)n

2n+1 1 n z , 2n+1

613

2. f (z) =

1

1 1 1+z 2+z

f (z) =

(1)

n=

n+1 n

z

n=0

(1)n n z , 2n+1

1

(1)n+1 z n

n= 1

f (z) =

(1)n+1

n=

Solution 12.27 Laurent Series. We assume that m is a non-negative integer and that n is an integer. The Laurent series about the point z = 0 of m 1 f (z) = z + z is f (z) =

n=

an z n f (z) dz z n+1

where an =

1 2

614

and C is a contour going around the origin once in the positive direction. We manipulate the coecient integral into the desired form. an = 1 (z + 1/z)m dz 2 C z n+1 2 1 (e + e )m e d = e(n+1) 2 0 2 1 2m cosm en d = 2 0 2m1 2 cosm (cos(n) sin(n)) d = 0

2

cosm cos(n) d

0

m m

=

n=0 m

m mn z n m m2n z n

1 z

=

n=0 m

=

n=m mn even

m zn (m n)/2

615

n=

m (mn)/2

By equating the coecients found by the two methods, we evaluate the desired integral.

2

(cos )m cos(n) d =

0

m 2m1 (mn)/2

Solution 12.28 First we write f (z) in the form f (z) = g(z) . (z /2)(z 2)2

g(z) is an entire function which grows no faster that z 3 at innity. By expanding g(z) in a Taylor series about the origin, we see that it is a polynomial of degree no greater than 3. f (z) = z 3 + z 2 + z + (z /2)(z 2)2

Since f (z) is a rational function we expand it in partial fractions to obtain a form that is convenient to integrate. f (z) = a b c + + +d z /2 z 2 (z 2)2

We use the value of the integrals of f (z) to determine the constants, a, b, c and d. a b c + + +d z /2 z 2 (z 2)2 2a = 2 a=1 616 dz = 2

|z|=1

|z|=3

1 b c + + +d z /2 z 2 (z 2)2 2(1 + b) = 0 b = 1

dz = 0

Note that by applying the second constraint, we can change the third constraint to zf (z) dz = 0.

|z|=3

|z|=3

where d is an arbitrary constant. We can also write the function in the form: dz 3 + 15 8 f (z) = . 4(z /2)(z 2)2 Complete Laurent Series. We nd the complete Laurent series about z = 0 for each of the terms in the partial 617

2 1 = z /2 1 + 2z

= 2

n=0

(2z)n ,

=

n=0

(2)n+1 z n ,

1/z 1 = z /2 1 /(2z) 1 = z =

n=0 1

n=0

2z 2

n

, z n1 ,

n1

for |/(2z)| < 1 for |z| < 2 for |z| < 2 for |z| < 2

=

n= 1

zn,

(2)n+1 z n ,

n=

618

1 1/2 = z2 1 z/2 1 = 2 =

n=0

n=0 n

z 2

z , 2n+1

1 1/z = z2 1 2/z = =

n=0 1

1 z

n=0

2 z

2n z n1 , 2n1 z n ,

n=

619

2 /2 1 = (2 /2) (1 z/2)2 2 (z 2) 4 4 = 8 = = 4 8 4 8

n=0

2 n

z 2

(1)n (n + 1)(1)n 2n z n ,

n=0

n=0

n+1 n z , 2n

2 /2 2 /2 = 2 (z 2) z2 2 /2 = z2

2 1 z

n=0

2 n

2 z

(1)n (n + 1)(1)n 2n z n2 ,

n=0 2

(n 1)2n2 z n ,

n=

n+1 n z , 2n+2 n=

We take the appropriate combination of these series to nd the Laurent series expansions in the regions: |z| < 1/2, 620

1/2 < |z| < 2 and 2 < |z|. For |z| < 1/2, we have

f (z) = f (z) =

(2)

n=0

n+1 n

z +

n=0

zn 4 + n+1 2 8 1 +

n=0

n+1 n z +d 2n zn + d

(2)n+1 +

n=0

2n+1

4n+1 8 2n

f (z) =

n=0

(2)n+1 +

1 2n+1

1+

4 (n + 1) 4

z n + d,

1

f (z) =

1

(2)n+1 z n +

n= n=0

4 zn + 2n+1 8 4 (n + 1) 4

n=0

(2)

n=

n+1 n

z +

n=0

1 2n+1

1+

z n + d,

f (z) =

2

(2)

n=

n+1 n

z

n=

n1 n

z (2 /2)

f (z) =

n=

(2)n+1

1 2n+1

(1 + (1 /4)(n + 1)) z n + d,

Solution 12.29 The radius of convergence of the series for f (z) is R = lim

n

Thus f (z) is a function which is analytic inside the circle of radius 3. 1. The integrand is analytic. Thus by Cauchys theorem the value of the integral is zero. ez f (z) dz = 0

|z|=1

2. We use Cauchys integral formula to evaluate the integral. 2 (3) 2 3!33 f (z) dz = f (0) = = 2 z4 3! 3! 33 f (z) dz = 2 z4

|z|=1

|z|=1

z=0

= 2

|z|=1

1!13 31

|z|=1

f (z) ez 2 dz = 2 z 3

(b)

1 1 1 = + z(1 z) z 1z 1 1 1 = z z 1 1/z = 1 1 z z 1 z

n=0

1 z

= =

z n , zn,

n=1

n=2

623

n=1

1 (z + 1)

n=0

1 1 n (z + 1) (z + 1) 12 , (z + 1)n

n

n=0

2n , (z + 1)n

for |z + 1| > 2

n=0

1 2n , (z + 1)n+1

=

n=2

1 2n1 (z + 1)n ,

2. First we factor the denominator of f (z) = 1/(z 4 + 4). z 4 + 4 = (z 1 )(z 1 + )(z + 1 )(z + 1 + ) We look for an annulus about z = 1 containing the point z = where f (z) is analytic. The singularities at z = 1 are a distance of 1 from z = 1; the singularities at z = 1 are at a distance of 5. Since f (z) is analytic in the domain 1 < |z 1| < 5 there is a convergent Laurent series in that domain.

624

Man will occasionally stumble over the truth, but most of the time he will pick himself up and continue on.

- Winston Churchill

13.1

We will nd that many integrals on closed contours may be evaluated in terms of the residues of a function. We rst dene residues and then prove the Residue Theorem. 625

Result 13.1.1 Residues. Let f (z) be single-valued an analytic in a deleted neighborhood of z0 . Then f (z) has the Laurent series expansion

f (z) =

n=

an (z z0 )n ,

1 zz0

term:

Res(f (z), z0 ) = a1 . The residue at a branch point or non-isolated singularity is undened as the Laurent series does not exist. If f (z) has a pole of order n at z = z0 then we can use the Residue Formula: Res(f (z), z0 ) = lim

zz0

Example 13.1.1 In Example 8.4.5 we showed that f (z) = z/ sin z has rst order poles at z = n, n Z \ {0}. Now 626

we nd the residues at these isolated singularities. z z , z = n = lim (z n) zn sin z sin z z n = n lim zn sin z 1 = n lim zn cos z 1 = n (1)n = (1)n n

Res

Residue Theorem. We can evaluate many integrals in terms of the residues of a function. Suppose f (z) has only one singularity, (at z = z0 ), inside the simple, closed, positively oriented contour C. f (z) has a convergent Laurent series in some deleted disk about z0 . We deform C to lie in the disk. See Figure 13.1. We now evaluate C f (z) dz by deforming the contour and using the Laurent series expansion of the function. 627

f (z) dz =

C B

f (z) dz

=

B n=

an (z z0 )n dz an

n= n=1

(z z0 )n+1 n+1

r e(+2)

+ a1 [log(z z0 )]r e r

r e

e(+2)

= a1 2

C

Now assume that f (z) has n singularities at {z1 , . . . , zn }. We deform C to n contours C1 , . . . , Cn which enclose the singularities and lie in deleted disks about the singularities in which f (z) has convergent Laurent series. See Figure 13.2. We evaluate C f (z) dz by deforming the contour.

n n

f (z) dz =

C k=1 Ck

f (z) dz = 2

k=1

Res(f (z), zk )

Now instead let f (z) be analytic outside and on C except for isolated singularities at {n } in the domain outside C and perhaps an isolated singularity at innity. Let a be any point in the interior of C. To evaluate C f (z) dz we make the change of variables = 1/(z a). This maps the contour C to C . (Note that C is negatively oriented.) All the points outside C are mapped to points inside C and vice versa. We can then evaluate the integral in terms of the singularities inside C . 628

C2 C C1 C3

Figure 13.2: Deform the contour n contours which enclose the n singularities.

f (z) dz =

C

1 1 +a d 2 C 1 1 = f + a dz 2 z C z 1 1 1 = 2 Res f +a , 2 z z n a n f 629

+ 2 Res

1 f z2

1 + a ,0 . z

C a C

Result 13.1.2 Residue Theorem. If f (z) is analytic in a compact, closed, connected domain D except for isolated singularities at {zn } in the interior of D then f (z) dz =

D k Ck

f (z) dz = 2

n

Res(f (z), zn ).

Here the set of contours {Ck } make up the positively oriented boundary D of the domain D. If the boundary of the domain is a single contour C then the formula simplies. f (z) dz = 2

C n

Res(f (z), zn )

If instead f (z) is analytic outside and on C except for isolated singularities at {n } in the domain outside C and perhaps an isolated singularity at innity then f (z) dz = 2

C n

Res

1 f z2

1 1 +a , z n a

630

+ 2 Res

1 f z2

1 + a ,0 . z

C

sin z dz z(z 1)

where C is the positively oriented circle of radius 2 centered at the origin. Since the integrand is single-valued with only isolated singularities, the Residue Theorem applies. The value of the integral is the sum of the residues from singularities inside the contour. The only places that the integrand could have singularities are z = 0 and z = 1. Since sin z cos z = lim = 1, z0 z z0 1 lim there is a removable singularity at the point z = 0. There is no residue at this point. Now we consider the point z = 1. Since sin(z)/z is analytic and nonzero at z = 1, that point is a rst order pole of the integrand. The residue there is Res sin z ,z = 1 z(z 1) = lim (z 1)

z1

There is only one singular point with a residue inside the path of integration. The residue at this point is sin(1). Thus the value of the integral is sin z 1 dz = sin(1) 2 C z(z 1) Example 13.1.3 Evaluate the integral

C

cot z coth z dz z3

where C is the unit circle about the origin in the positive direction. The integrand is cos z cosh z cot z coth z = 3 z3 z sin z sinh z 631

sin z has zeros at n. sinh z has zeros at n. Thus the only pole inside the contour of integration is at z = 0. Since sin z and sinh z both have simple zeros at z = 0, sin z = z + O(z 3 ), sinh z = z + O(z 3 )

the integrand has a pole of order 5 at the origin. The residue at z = 0 is 1 d4 z0 4! dz 4 lim 1 d4 z 2 cot z coth z z0 4! dz 4 1 = lim 24 cot(z) coth(z)csc(z)2 32z coth(z)csc(z)4 4! z0 16z cos(2z) coth(z)csc(z)4 + 22z 2 cot(z) coth(z)csc(z)4 + 2z 2 cos(3z) coth(z)csc(z)5 + 24 cot(z) coth(z)csch(z)2 + 24csc(z)2 csch(z)2 48z cot(z)csc(z)2 csch(z)2 48z coth(z)csc(z)2 csch(z)2 + 24z 2 cot(z) coth(z)csc(z)2 csch(z)2 + 16z 2 csc(z)4 csch(z)2 + 8z 2 cos(2z)csc(z)4 csch(z)2 32z cot(z)csch(z)4 16z cosh(2z) cot(z)csch(z)4 + 22z 2 cot(z) coth(z)csch(z)4 + 16z 2 csc(z)2 csch(z)4 + 8z 2 cosh(2z)csc(z)2 csch(z)4 + 2z 2 cosh(3z) cot(z)csch(z)5 = 1 4! 7 45 632 56 15

z5

cot z coth z z3

= lim

Since taking the fourth derivative of z 2 cot z coth z really sucks, we would like a more elegant way of nding the residue. We expand the functions in the integrand in Taylor series about the origin.

z z 1 z2 + 24 1 + z2 + 24 + cos z cosh z = 3 3 z5 z5 z 3 sin z sinh z z 3 z z6 + 120 z + z6 + 120 +

2 4 2 4

= = =

z3

1 z2 + z6

z4 6 z4 90

z4 + 6 1 1 + 60 36

1 1 z5 1

1 z5 1 = 5 z 1 = 5 z

+ z4 z4 1 + 1+ + 6 90 7 1 z4 + 45 7 1 + 45 z cot z coth z 14 dz = z3 45

7 Thus we see that the residue is 45 . Now we can evaluate the integral.

13.2

13.2.1

The Cauchy Principal Value

b a x0 b

First we recap improper integrals. If f (x) has a singularity at x0 (a . . . b) then f (x) dx lim +

0

f (x) dx + lim +

0

f (x) dx.

x0 +

633

For integrals on ( . . . ),

b

f (x) dx

1 1 1 x

a, b

lim

f (x) dx.

a

Example 13.2.1

1 1

1 dx = lim 0+ x = lim +

0 0

1 dx + lim 0+ x

0

1 dx x

[ln |x|] 1

= lim ln lim ln + +

0

The integral diverges because and approach zero independently. Since 1/x is an odd function, it appears that the area under the curve is zero. Consider what would happen if and were not independent. If they approached zero symmetrically, = , then the value of the integral would be zero.

1

lim +

0

+

1

1 dx = lim (ln ln ) = 0 0+ x

1

1

lim +

0

+

1 c

1 1

1 dx x

has some meaning, and if we could evaluate the integral, the most reasonable value would be zero. The Cauchy principal value provides us with a way of evaluating such integrals. If f (x) is continuous on (a, b) except at the point x0 (a, b)

1

This may remind you of conditionally convergent series. You can rearrange the terms to make the series sum to any number.

634

b x0 0 b

f (x) dx = lim +

a

f (x) dx +

a x0 +

f (x) dx .

The Cauchy principal value is obtained by approaching the singularity symmetrically. The principal value of the integral may exist when the integral diverges. If the integral exists, it is equal to the principal value of the integral. 1 1 The Cauchy principal value of 1 x dx is dened

1

1 dx lim 0+ x

0 0

1 dx + x

1 dx x

= lim [log |x|] [log |x|]1 1 + = lim (log | | log | |) + = 0. (Another notation for the principal value of an integral is PV f (x) dx.) Since the limits of integration approach zero symmetrically, the two halves of the integral cancel. If the limits of integration approached zero independently, (the denition of the integral), then the two halves would both diverge. Example 13.2.2

x x2 +1

x dx = lim 2+1 a, b x

b a

x2

x dx +1

b a

The integral diverges because a and b approach innity independently. Now consider what would happen if a and b were not independent. If they approached zero symmetrically, a = b, then the value of the integral would be zero.

1 lim ln 2 b

b2 + 1 b2 + 1

=0

We could make the integral have any value we pleased by choosing a = cb. We can assign a meaning to divergent integrals of the form Cauchy principal value of the integral is dened

f (x) dx = lim

f (x) dx.

a

The Cauchy principal value is obtained by approaching innity symmetrically. The Cauchy principal value of

x x2 +1

dx is dened

a

a a

x2

x dx +1

a a

1 ln x2 + 1 2

Result 13.2.1 Cauchy Principal Value. If f (x) is continuous on (a, b) except at the point x0 (a, b) then the integral of f (x) is dened

b a x0 b

f (x) dx = lim +

0

f (x) dx + lim +

0

f (x) dx.

x0 +

b x0 0 b

f (x) dx = lim +

a

f (x) dx +

a x0 +

f (x) dx .

b

f (x) dx =

a, b

lim

f (x) dx.

a

a

f (x) dx = lim

f (x) dx.

a

The principal value of the integral may exist when the integral diverges. If the integral exists, it is equal to the principal value of the integral.

Example 13.2.3 Clearly

x dx = lim

x2 2

a=0

a

637

In general, if f (x) is an odd function with no singularities on the nite real axis then

f (x) dx = 0.

13.3

Cr

where Cr is the positively oriented circle of radius r and center at the origin. From the residue theorem, we know that the integral is 1 dz = z1 0 2 for r < 1, for r > 1.

Cr

When r = 1, the integral diverges, as there is a rst order pole on the path of integration. However, the principal value of the integral exists. 1 dz = lim 0+ Cr z 1

0 2

1 e d 1

2

= lim log(e 1) +

638

We choose the branch of the logarithm with a branch cut on the positive real axis and arg log z (0, 2). = lim log e(2 ) 1 log (e 1) +

0

= lim log +

0 0

1 i + O( 2 ) 1 log

1 + i + O( 2 ) 1

0

+ O( 2 ) + arg + O( 2 ) Log

+ O( 2 ) arg + O( 2 )

In the above example we evaluated the contour integral by parameterizing the contour. This approach is only feasible when the integrand is simple. We would like to use the residue theorem to more easily evaluate the principal value of the integral. But before we do that, we will need a preliminary result.

Result 13.3.1 Let f (z) have a rst order pole at z = z0 and let (z z0 )f (z) be analytic in some neighborhood of z0 . Let the contour C be a circular arc from z0 + e to z0 + e . (We assume that > and < 2.) lim +

0

C

The contour is shown in Figure 13.4. (See Exercise 13.9 for a proof of this result.)

639

C z0

Cp C

C

1 dz z1

where C is the unit circle. Let Cp be the circular arc of radius 1 that starts and ends a distance of from z = 1. Let C be the positive, circular arc of radius with center at z = 1 that joins the endpoints of Cp . Let Ci , be the union of Cp and C . (Cp stands for Principal value Contour; Ci stands for Indented Contour.) Ci is an indented contour that avoids the rst order pole at z = 1. Figure 13.5 shows the three contours. 640

Cp

We can calculate the integral along Ci with the residue theorem. 1 dz = 2 z1 0+ , the contour becomes a semi-circle,

Ci

We can calculate the integral along C using Result 13.3.1. Note that as a circular arc of radians. lim +

0

1 dz = Res z1

1 ,1 z1

Now we can write the principal value of the integral along C in terms of the two known integrals. 1 1 dz = dz z1 Ci z 1 = 2 = 1 dz z1

In the previous example, we formed an indented contour that included the rst order pole. You can show that if we had indented the contour to exclude the pole, we would obtain the same result. (See Exercise 13.11.) We can extend the residue theorem to principal values of integrals. (See Exercise 13.10.) 641

Result 13.3.2 Residue Theorem for Principal Values. Let f (z) be analytic inside and on a simple, closed, positive contour C, except for isolated singularities at z1 , . . . , zm inside the contour and rst order poles at 1 , . . . , n on the contour. Further, let the contour be C 1 at the locations of these rst order poles. (i.e., the contour does not have a corner at any of the rst order poles.) Then the principal value of the integral of f (z) along C is

m n

f (z) dz = 2

C j=1

Res(f (z), zj ) +

j=1

Res(f (z), j ).

13.4

x2

1 dx. +1

x2

1 dx = [arctan x] +1 =

Now we will evaluate the integral using contour integration. Let CR be the semicircular arc from R to R in the upper half plane. Let C be the union of CR and the interval [R, R]. We can evaluate the integral along C with the residue theorem. The integrand has rst order poles at z = . For 642

Now we examine the integral along CR . We use the maximum modulus integral bound to show that the value of the integral vanishes as R . z2 1 1 dz R max 2 zCR z + 1 +1 1 = R 2 R 1 0 as R .

CR

Now we are prepared to evaluate the original real integral. 1 dz = +1 C 1 1 dx + dz = 2+1 2+1 x CR z z2

R R

x2

1 dx = +1

We would get the same result by closing the path of integration in the lower half plane. Note that in this case the closed contour would be in the negative direction. 643

If you are really observant, you may have noticed that we did something a little funny in evaluating

1 dx. x2 + 1

1 dx = lim 2+1 a+ x

0 a

R

b 0

x2

1 dx. +1

R+

lim

1 dx. x2 + 1

x . x2 +1

Note that for some integrands, the former and latter are not the same. Consider the integral of

a+

0 a

x dx + lim 2+1 b+ x

b 0

x2

x dx +1 1 log |b2 + 1| 2

Note that the limits do not exist and hence the integral diverges. We get a dierent result if the limits of integration approach innity symmetrically.

R R+

lim

x dx = lim R+ x2 + 1 =0

(Note that the integrand is an odd function, so the integral from R to R is zero.) We call this the principal value of the integral and denote it by writing PV in front of the integral sign or putting a dash through the integral.

R

PV

f (x) dx

f (x) dx lim

R+

f (x) dx

R

644

The principal value of an integral may exist when the integral diverges. If the integral does converge, then it is equal to its principal value. We can use the method of Example 13.4.1 to evaluate the principal value of integrals of functions that vanish fast enough at innity.

Result 13.4.1 Let f (z) be analytic except for isolated singularities, with only rst order poles on the real axis. Let CR be the semi-circle from R to R in the upper half plane. If

R

lim

R max |f (z)|

zCR

=0

n

then

f (x) dx = 2

k=1

Res (f (z), zk ) +

k=1

Res(f (z), xk )

where z1 , . . . zm are the singularities of f (z) in the upper half plane and x1 , . . . , xn are the rst order poles on the real axis. Now let CR be the semi-circle from R to R in the lower half plane. If

R

lim

R max |f (z)|

zCR

=0

n

then

f (x) dx = 2

k=1

Res (f (z), zk )

k=1

Res(f (z), xk )

where z1 , . . . zm are the singularities of f (z) in the lower half plane and x1 , . . . , xn are the rst order poles on the real axis.

645

This result is proved in Exercise 13.13. Of course we can use this result to evaluate the integrals of the form

f (z) dz,

0

13.5

Fourier Integrals

In order to do Fourier transforms, which are useful in solving dierential equations, it is necessary to be able to calculate Fourier integrals. Fourier integrals have the form

ex f (x) dx.

We evaluate these integrals by closing the path of integration in the lower or upper half plane and using techniques of contour integration. Consider the integral

/2

eR sin d.

0

/2

for 0 /2

/2

e

0

R sin

d

0

eR2/ d

R2/ /2 e = 2R 0 R = (e 1) 2R 2R 0 as R 646

We can use this to prove the following Result 13.5.1. (See Exercise 13.17.)

eR sin d <

0

. R

Suppose that f (z) vanishes as |z| . If is a (positive/negative) real number and CR is a semi-circle of radius R in the (upper/lower) half plane then the integral f (z) ez dz

CR

vanishes as R .

We can use Jordans Lemma and the Residue Theorem to evaluate many Fourier integrals. Consider f (x) ex dx, where is a positive real number. Let f (z) be analytic except for isolated singularities, with only rst order poles on the real axis. Let C be the contour from R to R on the real axis and then back to R along a semi-circle in the upper half plane. If R is large enough so that C encloses all the singularities of f (z) in the upper half plane then

m n

f (z) ez dz = 2

C k=1

Res(f (z) ez , zk ) +

k=1

Res(f (z) ez , xk )

where z1 , . . . zm are the singularities of f (z) in the upper half plane and x1 , . . . , xn are the rst order poles on the real axis. If f (z) vanishes as |z| then the integral on CR vanishes as R by Jordans Lemma.

m n

f (x) ex dx = 2

k=1

Res(f (z) ez , zk ) +

k=1

Res(f (z) ez , xk )

For negative we close the path of integration in the lower half plane. Note that the contour is then in the negative direction. 647

Result 13.5.2 Fourier Integrals. Let f (z) be analytic except for isolated singularities, with only rst order poles on the real axis. Suppose that f (z) vanishes as |z| . If is a positive real number then

m n

f (x) e

dx = 2

k=1

Res(f (z) e

, zk ) +

k=1

Res(f (z) ez , xk )

where z1 , . . . zm are the singularities of f (z) in the upper half plane and x1 , . . . , xn are the rst order poles on the real axis. If is a negative real number then

m n

f (x) e

dx = 2

k=1

Res(f (z) e

, zk )

k=1

Res(f (z) ez , xk )

where z1 , . . . zm are the singularities of f (z) in the lower half plane and x1 , . . . , xn are the rst order poles on the real axis.

13.6

0 0

If f (x) is even/odd then we can evaluate the cosine/sine integral with the method we developed for Fourier integrals. 648

Let f (z) be analytic except for isolated singularities, with only rst order poles on the real axis. Suppose that f (x) is an even function and that f (z) vanishes as |z| . We consider real > 0.

f (x) cos(x) dx =

1 f (x) ex dx 2

m n

f (x) cos(x) dx =

k=1

Res(f (z) e

, zk ) + 2

Res(f (z) ez , xk )

k=1

where z1 , . . . zm are the singularities of f (z) in the upper half plane and x1 , . . . , xn are the rst order poles on the real axis. If f (x) is an odd function, we note that f (x) cos(x) is an odd function to obtain the analogous result for Fourier sine integrals. 649

Result 13.6.1 Fourier Cosine and Sine Integrals. Let f (z) be analytic except for isolated singularities, with only rst order poles on the real axis. Suppose that f (x) is an even function and that f (z) vanishes as |z| . We consider real > 0.

m

f (x) cos(x) dx =

k=1

Res(f (z) e

, zk ) + 2

Res(f (z) ez , xk )

k=1

where z1 , . . . zm are the singularities of f (z) in the upper half plane and x1 , . . . , xn are the rst order poles on the real axis. If f (x) is an odd function then,

f (x) sin(x) dx =

k=1

Res(f (z) e

, k ) + 2

Res(f (z) ez , xk )

k=1

where 1 , . . . are the singularities of f (z) in the lower half plane and x1 , . . . , xn are the rst order poles on the real axis.

Now suppose that f (x) is neither even nor odd. We can evaluate integrals of the form:

f (x) sin(x) dx

f (x) ex dx + f (x) ex

1 2 dx + 2

f (x) ex dx

f (x) ex dx

650

CR C

Figure 13.6:

13.7

0

where xa denotes exp(a ln(x)). We choose the branch of the function f (z) = z a z+1 |z| > 0, 0 < arg z < 2

with a branch cut on the positive real axis. Let C and CR denote the circular arcs of radius and R where < 1 < R. C is negatively oriented; CR is positively oriented. Consider the closed contour C that is traced by a point moving from C to CR above the branch cut, next around CR , then below the cut to C , and nally around C . (See Figure 13.11.) We write f (z) in polar coordinates. f (z) = exp(a(log r + i)) exp(a log z) = z+1 r e +1 651

We evaluate the function above, (z = r e0 ), and below, (z = r e2 ), the branch cut. exp[a(log r + i0)] ra = r+1 r+1 exp[a(log r + 2)] ra e2a f (r e2 ) = = . r+1 r+1 f (r e0 ) = We use the residue theorem to evaluate the integral along C. f (z) dz = 2 Res(f (z), 1)

C R

ra dr + r+1

f (z) dz

CR

ra e2a dr + r+1

C

The residue is Res(f (z), 1) = exp(a log(1)) = exp(a(log 1 + )) = ea . We bound the integrals along C and CR with the maximum modulus integral bound.

a 1a

= 2 1 1 a R R1a f (z) dz 2R = 2 R1 R1 CR

C

f (z) dz 2

Since 0 < a < 1, the values of the integrals tend to zero as 0 and R . Thus we have

0

ea ra dr = 2 r+1 1 e2a

0

Result 13.7.1 Integrals from Zero to Innity. Let f (z) be a single-valued analytic function with only isolated singularities and no singularities on the positive, real axis, [0, ). Let a Z. If the integrals exist then,

n

f (x) dx =

0 0 0 k=1

n

2 x f (x) dx = 1 e2a

a n

Res (z a f (z), zk ) ,

k=1 n 2

1 f (x) log x dx = 2

k=1 n k=1

a

k=1

2a + sin2 (a)

0

Res (z a f (z), zk ) ,

k=1

m x f (x) log x dx = m a

a m

2 1 e2a

Res (z a f (z), zk ) ,

k=1

where z1 , . . . , zn are the singularities of f (z) and there is a branch cut on the positive real axis with 0 < arg(z) < 2.

653

13.8

Exploiting Symmetry

We have already used symmetry of the integrand to evaluate certain integrals. For f (x) an even function we were able to evaluate 0 f (x) dx by extending the range of integration from to . For

x f (x) dx

0

we put a branch cut on the positive real axis and noted that the value of the integrand below the branch cut is a constant multiple of the value of the function above the branch cut. This enabled us to evaluate the real integral with contour integration. In this section we will use other kinds of symmetry to evaluate integrals. We will discover that periodicity of the integrand will produce this symmetry.

13.8.1

Wedge Contours

We note that z n = rn en is periodic in with period 2/n. The real and imaginary parts of z n are odd periodic in with period /n. This observation suggests that certain integrals on the positive real axis may be evaluated by closing the path of integration with a wedge contour. Example 13.8.1 Consider

0

1 dx 1 + xn 654

0

1 dx = Res 1 + xn k=0

n1

n1

=

k=0 n1

ze(1+2k)/n

=

k=0 n1

lim

ze(1+2k)/n

=

k=0

(1 + 2k)/n n e(1+2k)(n1)/n

n1

n2 e(n1)/n

n1 e/n k=1

(1 + 2k) e2k/n

k=0

= =

2 n2

k e2k/n

2 n 2 2/n 1 e n = n sin(/n) This is a bit grungy. To nd a spier way to evaluate the integral we note that if we write the integrand as a function of r and , it is periodic in with period 2/n. 1 1 = n 1+z 1 + rn en The integrand along the rays = 2/n, 4/n, 6/n, . . . has the same value as the integrand on the real axis. Consider the contour C that is the boundary of the wedge 0 < r < R, 0 < < 2/n. There is one singularity inside the 655

e/n

contour. We evaluate the residue there. Res 1 , e/n 1 + zn z e/n n ze/n 1 + z 1 = lim n1 ze/n nz e/n = n = lim

Let CR be the circular arc. The integral along CR vanishes as R . 2R 1 1 dz max n zCR 1 + z n 1+z n 2R 1 n Rn 1 0 as R

CR

0

1 dx + 1 + xn

0

656

13.8.2

Box Contours

Recall that ez = ex+y is periodic in y with period 2. This implies that the hyperbolic trigonometric functions cosh z, sinh z and tanh z are periodic in y with period 2 and odd periodic in y with period . We can exploit this property to evaluate certain integrals on the real axis by closing the path of integration with a box contour. Example 13.8.2 Consider the integral

We will evaluate this integral using contour integration. Note that cosh(x + ) = ex+ + ex = cosh(x). 2

Consider the box contour C that is the boundary of the region R < x < R, 0 < y < . The only singularity of the integrand inside the contour is a rst order pole at z = /2. We evaluate the integral along C with the residue theorem. 1 dz = 2 Res cosh z 1 , cosh z 2 z /2 = 2 lim z/2 cosh z 1 = 2 lim z/2 sinh z = 2 657

R+ R

The value of the integrand on the top of the box is the negative of its value on the bottom. We take the limit as R .

1 dx + cosh x

1 dx = 2 cosh x

1 dx = cosh x

13.9

2

0

d . 1 + a sin

Real-Valued a. For 1 < a < 1, the integrand is bounded, hence the integral exists. For |a| = 1, the integrand has a second order pole on the path of integration. For |a| > 1 the integrand has two rst order poles on the path of integration. The integral is divergent for these two cases. Thus we see that the integral exists for 1 < a < 1. For a = 0, the value of the integral is 2. Now consider a = 0. We make the change of variables z = e . The real integral from = 0 to = 2 becomes a contour integral along the unit circle, |z| = 1. We write the sine, cosine and the dierential in terms of z. sin = z z 1 , 2 cos = z + z 1 , 2 dz = e d, d = dz z

We write f (a) as an integral along C, the positively oriented unit circle |z| = 1. f (a) =

C

z2

2/a dz + (2/a)z 1

z1 =

Because |a| < 1, the second root is outside the unit circle. |z2 | = 1+ 1 a2 > 1. |a|

Since |z1 z2 | = 1, |z1 | < 1. Thus the pole at z1 is inside the contour and the pole at z2 is outside. We evaluate the 659

contour integral with the residue theorem. f (a) = 2/a dz + (2/a)z 1 C 2/a = 2 z1 z2 1 = 2 1 a2 z2

f (a) =

2 1 a2

Complex-Valued a. We note that the integral converges except for real-valued a satisfying |a| 1. On any closed subset of C \ {a R | |a| 1} the integral is uniformly convergent. Thus except for the values {a R | |a| 1}, we can dierentiate the integral with respect to a. f (a) is analytic in the complex plane except for the set of points on the real axis: a ( . . . 1] and a [1 . . . ). The value of the analytic function f (a) on the real axis for the interval (1 . . . 1) is f (a) = 2 . 1 a2

By analytic continuation we see that the value of f (a) in the complex plane is the branch of the function f (a) = 2 (1 a2 )1/2

where f (a) is positive, real-valued for a (1 . . . 1) and there are branch cuts on the real axis on the intervals: ( . . . 1] and [1 . . . ). 660

a+2

F (sin , cos ) d

a

it may be useful to make the change of variables z = e . This gives us a contour integral along the unit circle about the origin. We can write the sine, cosine and dierential in terms of z. z + z 1 dz z z 1 , cos = , d = sin = 2 2 z

13.10

Innite Sums

The function g(z) = cot(z) has simple poles at z = n Z. The residues at these points are all unity. (z n) cos(z) zn sin(z) cos(z) (z n) sin(z) = lim zn cos(z) =1

Let Cn be the square contour with corners at z = (n + 1/2)(1 ). Recall that cos z = cos x cosh y sin x sinh y and 661 sin z = sin x cosh y + cos x sinh y.

First we bound the modulus of cot(z). | cot(z)| = = cos x cosh y sin x sinh y sin x cosh y + cos x sinh y cos2 x cosh2 y + sin2 x sinh2 y sin2 x cosh2 y + cos2 x sinh2 y cosh2 y sinh2 y

= | coth(y)| The hyperbolic cotangent, coth(y), has a simple pole at y = 0 and tends to 1 as y . Along the top and bottom of Cn , (z = x (n + 1/2)), we bound the modulus of g(z) = cot(z). | cot(z)| coth((n + 1/2)) Along the left and right sides of Cn , (z = (n + 1/2) + y), the modulus of the function is bounded by a constant. |g((n + 1/2) + y)| = cos((n + 1/2)) cosh(y) sin((n + 1/2)) sinh(y) sin((n + 1/2)) cosh(y) + cos((n + 1/2)) sinh(y) = | tanh(y)|

Thus the modulus of cot(z) can be bounded by a constant M on Cn . Let f (z) be analytic except for isolated singularities. Consider the integral, cot(z)f (z) dz.

Cn

662

We use the maximum modulus integral bound. cot(z)f (z) dz (8n + 4)M max |f (z)|

Cn zCn

Note that if

|z|

then

n

lim

cot(z)f (z) dz = 0.

Cn

This implies that the sum of all residues of cot(z)f (z) is zero. Suppose further that f (z) is analytic at z = n Z. The residues of cot(z)f (z) at z = n are f (n). This means

n=

Result 13.10.1 If

|z|

then the sum of all the residues of cot(z)f (z) is zero. If in addition f (z) is analytic at z = n Z then

n=

1 , (n + a)2 n= 663

a Z.

By Result 13.10.1 with f (z) = 1/(z + a)2 we have 1 1 = Res cot(z) , a 2 (n + a) (z + a)2 n= d cot(z) za dz sin2 (z) cos2 (z) = . sin2 (z) = lim 2 1 = (n + a)2 sin2 (a) n= Example 13.10.2 Derive /4 = 1 1/3 + 1/5 1/7 + 1/9 . Consider the integral 1 dw In = 2 Cn w(w z) sin w where Cn is the square with corners at w = (n + 1/2)(1 ), n Z+ . With the substitution w = x + y, | sin w|2 = sin2 x + sinh2 y, we see that |1/ sin w| 1 on Cn . Thus In 0 as n . We use the residue theorem and take the limit n .

0=

n=1

(1)n (1)n 1 1 + + 2 n(n z) n(n + z) z sin z z 1 (1)n 1 = 2z sin z z n2 2 z 2 n=1 = 1 (1)n (1)n z n=1 n z n + z 664

We substitute z = /2 into the above expression to obtain /4 = 1 1/3 + 1/5 1/7 + 1/9

665

13.11

Exercises

Exercise 13.1 Evaluate the following closed contour integrals using Cauchys residue theorem. 1.

C

z2

dz , 1

where C is the contour parameterized by r = 2 cos(2), 0 2. where C is the positive circle |z| = 3.

2.

C

3.

C

Hint, Solution Exercise 13.2 Derive Cauchys integral formula from Cauchys residue theorem. Hint, Solution Exercise 13.3 Calculate the residues of the following functions at each of the poles in the nite part of the plane. 1. 2. 3. 4. z4 1 a4

5.

(1 cos z)2 z7

Hint, Solution Exercise 13.4 Let f (z) have a pole of order n at z = z0 . Prove the Residue Formula: Res(f (z), z0 ) = lim Hint, Solution Exercise 13.5 Consider the function f (z) = z4 . z2 + 1 1 dn1 [(z z0 )n f (z)] . n1 (n 1)! dz

zz0

Classify the singularities of f (z) in the extended complex plane. Calculate the residue at each pole and at innity. Find the Laurent series expansions and their domains of convergence about the points z = 0, z = and z = . Hint, Solution Exercise 13.6 Let P (z) be a polynomial none of whose roots lie on the closed contour . Show that 1 2 P (z) dz = number of roots of P (z) which lie inside . P (z)

where the roots are counted according to their multiplicity. Hint: From the fundamental theorem of algebra, it is always possible to factor P (z) in the form P (z) = (z z1 )(z z2 ) (z zn ). Using this form of P (z) the integrand P (z)/P (z) reduces to a very simple expression. Hint, Solution 667

C

ez dz (z ) tan z

Solution 13.1 Show that the integral

1 1

1 dx. x

1 1

1 dx, x

1 0

R, = 0. 1 dx x 1 dx. x

Evaluate lim+

1 1

and

0

lim

The integral exists for arbitrarily close to zero, but diverges when = 0. Plot the real and imaginary part of the integrand. If one were to assign meaning to the integral for = 0, what would the value of the integral be? 668

1 1 1 x2 1 1 1 x3

1 f (x) 1 x3

Assume that f (x) is real analytic on the interval (1, 1). Hint, Solution

Exercise 13.9 Let f (z) have a rst order pole at z = z0 and let (z z0 )f (z) be analytic in some neighborhood of z0 . Let the contour C be a circular arc from z0 + e to z0 + e . (Assume that > and < 2.) Show that lim +

0

C

Hint, Solution Exercise 13.10 Let f (z) be analytic inside and on a simple, closed, positive contour C, except for isolated singularities at z1 , . . . , zm inside the contour and rst order poles at 1 , . . . , n on the contour. Further, let the contour be C 1 at the locations of these rst order poles. (i.e., the contour does not have a corner at any of the rst order poles.) Show that the principal value of the integral of f (z) along C is

m n

f (z) dz = 2

C j=1

Res(f (z), zj ) +

j=1

Res(f (z), j ).

C

1 dz z1

by indenting the contour to exclude the rst order pole at z = 1. Hint, Solution

Exercise 13.12 Evaluate the following improper integrals.

1.

0

2.

Hint, Solution Exercise 13.13 Prove Result 13.4.1. Hint, Solution Exercise 13.14 Evaluate

x2

2x . +x+1

Hint, Solution Exercise 13.15 Use contour integration to evaluate the integrals 670

1.

dx , 1 + x4 x2 dx , (1 + x2 )2 cos(x) dx. 1 + x2

2.

3.

0

Hint, Solution

Fourier Integrals

Exercise 13.17 Suppose that f (z) vanishes as |z| . If is a (positive / negative) real number and CR is a semi-circle of radius R in the (upper / lower) half plane then show that the integral f (z) ez dz

CR

Hint, Solution

Exercise 13.19 Evaluate

sin x dx. x

1 cos x dx. x2

0

Hint, Solution

Exercise 13.22 Evaluate the following integrals.

1.

0

ln2 x 3 dx = 1 + x2 8 ln x dx = 0 1 + x2 672

2.

0

0

x2

dx + 5x + 6

[ Recall the trick of considering Hint, Solution Exercise 13.24 Show that

f (z) log z dz with a suitably chosen contour and branch for log z. ]

0

0

log2 x 2 dx = . (x + 1)2 3

I(a) =

0

xa dx. 1 + x2

1. For what values of a does the integral exist? 2. Evaluate the integral. Show that I(a) = 3. Deduce from your answer in part (b) the results

0

2 cos(a/2)

log x dx = 0, 1 + x2 673

log2 x 3 dx = . 1 + x2 8

You may assume that it is valid to dierentiate under the integral sign. Hint, Solution Exercise 13.26 Let f (z) be a single-valued analytic function with only isolated singularities and no singularities on the positive real axis, [0, ). Give sucient conditions on f (x) for absolute convergence of the integral

xa f (x) dx.

0

Assume that a is not an integer. Evaluate the integral by considering the integral of z a f (z) on a suitable contour. (Consider the branch of z a on which 1a = 1.) Hint, Solution Exercise 13.27 Using the solution to Exercise 13.26, evaluate

0

and

0

xa f (x) logm x dx, where m is a positive integer. Hint, Solution Exercise 13.28 Using the solution to Exercise 13.26, evaluate

f (x) dx,

0

i.e. examine a = 0. The solution will suggest a way to evaluate the integral with contour integration. Do the contour integration to corroborate the value of 0 f (x) dx. Hint, Solution 674

Exercise 13.29 Let f (z) be an analytic function with only isolated singularities and no singularities on the positive real axis, [0, ). Give sucient conditions on f (x) for absolute convergence of the integral

f (x) log x dx

0

Evaluate the integral with contour integration. Hint, Solution Exercise 13.30 For what values of a does the following integral exist?

0

xa dx. 1 + x4

Evaluate the integral. (Consider the branch of xa on which 1a = 1.) Hint, Solution Exercise 13.31 By considering the integral of f (z) = z 1/2 log z/(z + 1)2 on a suitable contour, show that

0

x1/2 dx = . 2 (x + 1) 2

Hint, Solution

Exploiting Symmetry

Exercise 13.32 Evaluate by contour integration, the principal value integral

I(a) =

eax dx ex ex

675

for a real and |a| < 1. [Hint: Consider the contour that is the boundary of the box, R < x < R, 0 < y < , but indented around z = 0 and z = . Hint, Solution Exercise 13.33 Evaluate the following integrals.

1.

0

dx , (1 + x2 )2 dx . 1 + x3

2.

0

I=

0

dx 1 + x6

dz 1 + z6

with an appropriately chosen contour . Hint, Solution Exercise 13.35 2 Let C be the boundary of the sector 0 < r < R, 0 < < /4. By integrating ez on C and letting R show that 1 2 2 2 ex dx. cos(x ) dx = sin(x ) dx = 2 0 0 0 Hint, Solution 676

x dx sinh x

eax dx = x +1 e sin(a)

Hint, Solution Exercise 13.38 Using techniques of contour integration nd for real a and b:

F (a, b) =

0

d (a + b cos )2

What are the restrictions on a and b if any? Can the result be applied for complex a, b? How? Hint, Solution Exercise 13.39 Show that

cos x dx = /2 ex + ex e + e/2

[ Hint: Begin by considering the integral of ez /(ez + ez ) around a rectangle with vertices: R, R + .] Hint, Solution 677

Exercise 13.40 Evaluate the following real integrals.

1.

d = 2 1 + sin2 sin4 d

/2

2.

0

Hint, Solution Exercise 13.41 Use contour integration to evaluate the integrals

2

1.

0

2.

Hint, Solution Exercise 13.42 By integration around the unit circle, suitably indented, show that

1 0

x2 dx. (1 + x2 ) 1 x2

Hint, Solution

Innite Sums

Exercise 13.44 Evaluate

n=1

1 . n4

Hint, Solution Exercise 13.45 Sum the following series using contour integration:

n=

n2

1 2

Hint, Solution

679

13.12

Hint 13.1

Hints

Hint 13.2

Hint 13.3

Hint 13.4 Substitute the Laurent series into the formula and simplify. Hint 13.5 Use that the sum of all residues of the function in the extended complex plane is zero in calculating the residue at innity. To obtain the Laurent series expansion about z = , write the function as a proper rational function, (numerator has a lower degree than the denominator) and expand in partial fractions. Hint 13.6

Hint 13.7

Hint 13.8

680

Hint 13.9 For the third part, does the integrand have a term that behaves like 1/x2 ?

Hint 13.10 Expand f (z) in a Laurent series. Only the rst term will make a contribution to the integral in the limit as 0+ . Hint 13.11 Use the result of Exercise 13.9. Hint 13.12 Look at Example 13.3.2.

Hint 13.13

Hint 13.14 Close the path of integration in the upper or lower half plane with a semi-circle. Use the maximum modulus integral bound, (Result 10.2.1), to show that the integral along the semi-circle vanishes. Hint 13.15 Make the change of variables x = 1/. Hint 13.16 Use Result 13.4.1. Hint 13.17

681

Fourier Integrals

Hint 13.18 Use

eR sin d <

0

. R

Hint 13.19

Hint 13.20 Consider the integral of Hint 13.21 Show that

1 cos x 1 ex dx = dx. x2 x2 ex . x

0

Hint 13.23 Integrate a branch of log2 z/(1 + z 2 ) along the boundary of the domain < r < R, 0 < < . Hint 13.24

682

1

xa dx

0

converges for

xa dx

1

converges for (a) < 1. Consider f (z) = z a /(z + 1)2 with a branch cut along the positive real axis and the contour in Figure 13.11 in the limit as 0 and R . To derive the last two integrals, dierentiate with respect to a. Hint 13.26

Hint 13.27 Consider the integral of z a f (z) on the contour in Figure 13.11. Hint 13.28 Dierentiate with respect to a. Hint 13.29 Take the limit as a 0. Use LHospitals rule. To corroborate the result, consider the integral of f (z) log z on an appropriate contour. Hint 13.30 Consider the integral of f (z) log2 z on the contour in Figure 13.11.

683

Hint 13.31 Consider the integral of za 1 + z4 on the boundary of the region < r < R, 0 < < /2. Take the limits as f (z) =

0 and R .

Hint 13.32 Consider the branch of f (z) = z 1/2 log z/(z + 1)2 with a branch cut on the positive real axis and 0 < arg z < 2. Integrate this function on the contour in Figure 13.11.

Exploiting Symmetry

Hint 13.33 Hint 13.34 For the second part, consider the integral along the boundary of the region, 0 < r < R, 0 < < 2/3. Hint 13.35 Hint 13.36 To show that the integral on the quarter-circle vanishes as R establish the inequality, cos 2 1 4 , 0 . 4

Hint 13.37 Consider the box contour C this is the boundary of the rectangle, R x R, 0 y . The value of the integral is 2 /2. Hint 13.38 Consider the rectangular contour with corners at R and R + 2. Let R . 684

Hint 13.41 Hint 13.42 Hint 13.43 Hint 13.44 Make the changes of variables x = sin and then z = e .

Innite Sums

Hint 13.45 Use Result 13.10.1. Hint 13.46

685

1 -1 -1 1

13.13

Solutions

Solution 13.2 1. We consider dz z2 1

where C is the contour parameterized by r = 2 cos(2), 0 2. (See Figure 13.7.) There are rst order 686

poles at z = 1. We evaluate the integral with Cauchys residue theorem. z2 dz 1 = 2 Res , z = 1 + Res 21 1 z 1 1 = 2 + z + 1 z=1 z 1 z=1 =0 2. We consider the integral ez dz, 2 C z (z 2)(z + 5) where C is the positive circle |z| = 3. There is a second order pole at z = 0, and rst order poles at z = 2 and z = 5. The poles at z = 0 and z = 2 lie inside the contour. We evaluate the integral with Cauchys residue theorem. ez ez dz = 2 Res ,z = 0 2 z 2 (z 2)(z + 5) C z (z 2)(z + 5) ez + Res ,z = 2 z 2 (z 2)(z + 5) ez ez d + 2 = 2 dz (z 2)(z + 5) z=0 z (z + 5) z=2 ez ez d = 2 + 2 dz (z 2)(z + 5) z=0 z (z + 5) z=2 1 5 (z 2 + (7 2)z 5 12) ez e2 + = 2 2 (z + 5)2 (z 2) 58 116 z=0 3 1 5 e2 = 2 + + 25 20 58 116 5 1 6 1 5 = + cos 2 sin 2 + + cos 2 + sin 2 10 58 29 25 29 58 687 z2 1 , z = 1 1

C

where C is the positive circle |z| = 1. There is an essential singularity at z = 0. We determine the residue there by expanding the integrand in a Laurent series. e1/z sin(1/z) = 1 +O z 1 1 = +O z z2 1+ 1 z2 1 +O z 1 z3

The residue at z = 0 is 1. We evaluate the integral with the residue theorem. e1/z sin(1/z) dz = 2

C

Solution 13.3 If f () is analytic in a compact, closed, connected domain D and z is a point in the interior of D then Cauchys integral formula states n! f () f (n) (z) = d. 2 D ( z)n+1 To corroborate this, we evaluate the integral with Cauchys residue theorem. There is a pole of order n + 1 at the point = z. n! 2 f () n! 2 dn d. = f () ( z)n+1 2 n! d n =f Solution 13.4 1. z4 1 1 = 4 a (z a)(z + a)(z a)(z + a) 688

(n)

=z

(z)

There are rst order poles at z = a and z = a. We calculate the residues there. 1 1 = 3 (z + a)(z a)(z + a) z=a 4a 1 1 1 Res , z = a = = 3 4 a4 z (z a)(z a)(z + a) z=a 4a 1 1 Res , z = a = = 3 4 a4 z (z a)(z + a)(z + a) z=a 4a 1 1 Res , z = a = = 3 4 a4 z (z a)(z + a)(z a) z=a 4a Res z4 = 2. sin z z2 Since denominator has a second order zero at z = 0 and the numerator has a rst order zero there, the function has a rst order pole at z = 0. We calculate the residue there. Res sin z ,z = 0 z2 = lim sin z z0 z cos z = lim z0 1 =1 1 ,z = a a4

3.

1 + z2 z(z 1)2 There is a rst order pole at z = 0 and a second order pole at z = 1. Res 1 + z2 ,z = 0 z(z 1)2 689 1 + z2 = (z 1)2 =1

z=0

Res

1 + z2 ,z = 1 z(z 1)2

d 1 + z2 dz z 1 = 1 2 z =0

z=1

z=1

4. ez / (z 2 + a2 ) has rst order poles at z = a. We calculate the residues there. ez ez ea Res , z = a = = z 2 + a2 z + a z=a 2a z z e e ea Res , z = a = = z 2 + a2 z a z=a 2a 5. Since 1 cos z has a second order zero at z = 0, (1cos z) has a third order pole at that point. We nd the z7 residue by expanding the function in a Laurent series. z2 z4 (1 cos z)2 = z 7 1 1 + + O z6 z7 2 24 z2 z4 =z + O z6 2 24 z4 z6 = z 7 + O z8 4 24 1 1 = 3 + O(z) 4z 24z

7 2 2

2

690

Solution 13.5 Since f (z) has an isolated pole of order n at z = z0 , it has a Laurent series that is convergent in a deleted neighborhood about that point. We substitute this Laurent series into the Residue Formula to verify it. Res(f (z), z0 ) = lim 1 dn1 [(z z0 )n f (z)] (n 1)! dz n1 1 dn1 (z z0 )n ak (z z0 )k (n 1)! dz n1 k=n 1 dn1 (n 1)! dz n1

zz0

= lim

zz0

= lim = lim

zz0

akn (z z0 )k

k=0

zz0

= lim =

zz0

ak1

k=0

(k + n 1)! (z z0 )k k!

1 (n 1)! a1 (n 1)! 0! = a1 This proves the Residue Formula. Solution 13.6 Classify Singularities. f (z) = z4 z4 = . z2 + 1 (z )(z + )

There are rst order poles at z = . Since the function behaves like z 2 at innity, there is a second order pole there. 691

To see this more slowly, we can make the substitution z = 1/ and examine the point = 0. f 1 1 1 4 = 2 = 2 = 2 4 +1 + (1 + 2 )

f (1/) has a second order pole at = 0, which implies that f (z) has a second order pole at innity. Residues. The residues at z = are, Res Res The residue at innity is Res(f (z), ) = Res 1 1 f , = 0 2 1 4 = Res , = 0 2 2 + 1 4 = Res , = 0 1 + 2 z4 , z2 + 1 z4 , z2 + 1 = lim z4 = , z z + 2 z4 = . z z 2

= lim

Here we could use the residue formula, but its easier to nd the Laurent expansion.

= Res =0

4 n=0

(1)n 2n , = 0

We could also calculate the residue at innity by recalling that the sum of all residues of this function in the extended complex plane is zero. + + Res(f (z), ) = 0 2 2 692

Res(f (z), ) = 0 Laurent Series about z = 0. Since the nearest singularities are at z = , the Taylor series will converge in the disk |z| < 1. z4 1 = z4 2+1 z 1 (z)2

=z

4 n=0

(z 2 )n (1)n z 2n

n=0

= z4

=

n=2

(1)n z 2n

This geometric series converges for | z 2 | < 1, or |z| < 1. The series expansion of the function is z4 = z2 + 1

(1)n z 2n

n=2

Laurent Series about z = . We expand f (z) in partial fractions. First we write the function as a proper rational function, (i.e. the numerator has lower degree than the denominator). By polynomial division, we see that f (z) = z 2 1 + Now we expand the last term in partial fractions. f (z) = z 2 1 + 693 /2 /2 + z z+ z2 1 . +1

Since the nearest singularity is at z = , the Laurent series will converge in the annulus 0 < |z | < 2. z 2 1 = ((z ) + )2 1 = (z )2 + 2(z ) 2

/2 /2 = z+ 2 + (z ) 1/4 = 1 (z )/2 1 = 4 = 1 4

n=0

(z ) 2 n (z )n 2n

n=0

This geometric series converges for |(z )/2| < 1, or |z | < 2. The series expansion of f (z) is /2 1 f (z) = 2 + 2(z ) + (z )2 + z 4

n=0

n (z )n . 2n

z4 /2 1 = 2 + 2(z ) + (z )2 + z2 + 1 z 4

n=0

n (z )n n 2

for |z | < 2

Laurent Series about z = . Since the nearest singularities are at z = , the Laurent series will converge in 694

=z =

2 n=0 0

1 z2

(1)n z 2(n+1)

n= 1

(1)n+1 z 2n

n=

This geometric series converges for | 1/z 2 | < 1, or |z| > 1. The series expansion of f (z) is z4 = (1)n+1 z 2n z 2 + 1 n=

1

Solution 13.7 Method 1: Residue Theorem. We factor P (z). Let m be the number of roots, counting multiplicities, that lie inside the contour . We nd a simple expression for P (z)/P (z).

n

P (z) = c P (z) = c

(z zk )

k=1 n n

(z zj )

k=1 j=1 j=k

695

P (z) = P (z) =

n k=1

n j=1 (z j=k

zj )

c

n

k=1 n

=

k=1

1 z zk

1 2

P (z) 1 dz = P (z) 2

n

n k=1

1 dz z zk 1 dz z zk

=

k=1

1 2

=

zk inside

1 2 1

1 dz z zk

=

zk inside

=m

n k=1 (z

zk ). Let m be

the number of roots, counting multiplicities, that lie inside the contour . 1 2 P (z) 1 dz = [log P (z)]C P (z) 2 = 1 log (z zk ) 2 k=1 1 2

n n

log(z zk )

k=1 C

The value of the logarithm changes by 2 for the terms in which zk is inside the contour. Its value does not change for the terms in which zk is outside the contour. 1 2

log(z zk )

zk inside C

1 = 2 =m Solution 13.8 1.

2

zk inside

ez dz = (z ) tan z

ez cos z dz (z ) sin z

The integrand has rst order poles at z = n, n Z, n = 1 and a double pole at z = . The only pole inside 697

the contour occurs at z = 0. We evaluate the integral with the residue theorem. ez cos z dz = 2 Res (z ) sin z ez cos z ,z = 0 (z ) sin z ez cos z = 2 lim z z=0 (z ) sin z z = 2 lim z=0 sin z 1 = 2 lim z=0 cos z = 2

ez dz = 2 (z ) tan z

2. The integrand has a rst order poles at z = 0, and a second order pole at z = inside the contour. The value of the integral is 2 times the sum of the residues at these points. From the previous part we know that residue at z = 0. ez cos z 1 Res ,z = 0 = (z ) sin z We nd the residue at z = with the residue formula. Res ez cos z , z = (z ) sin z ez cos z = lim (z + ) z (z ) sin z e (1) z+ = lim 2 z sin z e 1 = lim 2 z cos z e = 2

698

We nd the residue at z = by nding the rst few terms in the Laurent series of the integrand. ez cos z (e + e (z ) + O ((z )2 )) (1 + O ((z )2 )) = (z ) sin z (z ) ((z ) + O ((z )3 )) e e (z ) + O ((z )2 ) = (z )2 + O ((z )4 ) e e + z + O(1) (z)2 = 1 + O ((z )2 ) e e = + + O(1) 1 + O (z )2 (z )2 z e e = + + O(1) (z )2 z With this we see that Res The integral is ez cos z dz = 2 Res (z ) sin z ez cos z , z = + Res (z ) sin z ez cos z + Res ,z = (z ) sin z 1 e = 2 + e 2 ez dz = 2 e 2 e (z ) tan z ez cos z ,z = 0 (z ) sin z ez cos z ,z = (z ) sin z = e .

699

1 1

1 dx. x 1 dx + lim 0+ x

0 1

1 1

1 dx = lim 0+ x = lim +

0 0

1 dx x

[log |x|] 1

0

This limit diverges. Thus the integral diverges. Now consider the integral 1 dx 1 x where R, = 0. Since the integrand is bounded, the integral exists.

1 1 1

1 dx = x

Figure 13.8: The real and imaginary part of the integrand for several values of . Note that the integral exists for all nonzero real and that

1 0

lim+

1 1

1 dx = x

and lim

1 dx = . 0 1 x The integral exists for arbitrarily close to zero, but diverges when = 0. The real part of the integrand is an odd function with two humps that get thinner and taller with decreasing . The imaginary part of the integrand is an even function with a hump that gets thinner and taller with decreasing . (See Figure 13.8.) 1 x Note that

0

=

1

x , x2 + 2

1 x

x2 + 2

1 dx + as 0+ x 1 dx as 0 . x 701

and

0 1

However,

1 0

lim

1 dx = 0 x

because the two integrals above cancel each other. Now note that when = 0, the integrand is real. Of course the integral doesnt converge for this case, but if we could assign some value to

1 1

1 dx x

1 0

lim

1 dx = 0, x

0 1 1

1 dx + x2

1 dx x2

1

1 x 1

1 + x 1 1

= lim +

0

11+

2.

1

1 dx = lim 0+ x3 = lim +

0

1 dx + x3

1 dx x3 1 2x2

1

1 2x2

+

1

= lim +

0

1 1 1 1 + + 2 2( )2 2(1)2 2(1)2 2

f (x) =

n=1

fn xn

We can rewrite the integrand as f0 f1 f2 f (x) f0 f1 x f2 x2 f (x) = 3+ 2+ + . x3 x x x x3 Note that the nal term is real analytic on (1, 1). Thus the principal value of the integral exists if and only if f2 = 0.

Solution 13.11 We can write f (z) as f (z) = f0 (z z0 )f (z) f0 + . z z0 z z0

Note that the second term is analytic in a neighborhood of z0 . Thus it is bounded on the contour. Let M be the 703

maximum modulus of

0

C

f (z) dz lim +

0

f0 dz. z z0

We parameterize the path of integration with z = z0 + e , Now we evaluate the integral. lim +

0

(, ).

f0 dz = lim 0+ z z0 = lim +

0

f0 e d e f0 d

= ( )f0 ( ) Res(f (z), z0 ) This proves the result. Solution 13.12 Let Ci be the contour that is indented with circular arcs or radius at each of the rst order poles on C so as to enclose these poles. Let A1 , . . . , An be these circular arcs of radius centered at the points 1 , . . . , n . Let Cp be the contour, (not necessarily connected), obtained by subtracting each of the Aj s from Ci . Since the curve is C 1 , (or continuously dierentiable), at each of the rst order poles on C, the Aj s becomes semi-circles as 0+ . Thus f (z) dz = Res(f (z), j ) for j = 1, . . . , n.

Aj

704

C 0

f (z) dz

Cp n

= lim +

0

f (z) dz

Ci m j=1 Aj n

f (z) dz

n

= 2

j=1

Res(f (z), zj ) +

j=1 m

Res(f (z), j )

n

j=1

Res(f (z), j )

f (z) dz = 2

C j=1

Res(f (z), zj ) +

j=1

Res(f (z), j ).

Solution 13.13 Consider 1 dz C z1 where C is the unit circle. Let Cp be the circular arc of radius 1 that starts and ends a distance of from z = 1. Let C be the negative, circular arc of radius with center at z = 1 that joins the endpoints of Cp . Let Ci , be the union of Cp and C . (Cp stands for Principal value Contour; Ci stands for Indented Contour.) Ci is an indented contour that avoids the rst order pole at z = 1. Figure 13.9 shows the three contours. Note that the principal value of the integral is

C

1 dz = lim 0+ z1 705

Cp

1 dz. z1

We can calculate the integral along Ci with Cauchys theorem. The integrand is analytic inside the contour. 1 dz = 0 z1 0+ , the contour becomes a semi-circle,

Ci

We can calculate the integral along C using Result 13.3.1. Note that as a circular arc of radians in the negative direction. lim +

0

1 dz = Res z1

1 ,1 z1

Now we can write the principal value of the integral along C in terms of the two known integrals.

C

1 1 dz = dz z1 Ci z 1 = 0 () =

1 dz z1

Solution 13.14 1. First we note that the integrand is an even function and extend the domain of integration.

0

x2 1 dx = 2 + 1)(x2 + 4) (x 2

x2 dx (x2 + 1)(x2 + 4)

Next we close the path of integration in the upper half plane. Consider the integral along the boundary of the 706

domain 0 < r < R, 0 < < . 1 2 z2 1 dz = 2 + 1)(z 2 + 4) (z 2 z2 dz C (z )(z + )(z 2)(z + 2) z2 1 = 2 Res ,z = 2 (z 2 + 1)(z 2 + 4) z2 + Res , z = 2 (z 2 + 1)(z 2 + 4) z2 z2 + 2 = (z + )(z 2 + 4) z= (z + 1)(z + 2) = 6 3 = 6

C

z=2

Let CR be the circular arc portion of the contour. as R with the maximum modulus bound.

R R

CR

CR

We take the limit as R to evaluate the integral along the real axis. 1 R 2 lim

0

2. We close the path of integration in the upper half plane. Consider the integral along the boundary of the domain 0 < r < R, 0 < < . dz = (z + b)2 + a2 dz C (z + b a)(z + b + a) 1 = 2 Res , z = b + a (z + b a)(z + b + a) 1 = 2 z + b + a z=b+a = a

C

Let CR be the circular arc portion of the contour. as R with the maximum modulus bound.

R R

CR

CR

We take the limit as R to evaluate the integral along the real axis. dx = 2 + a2 R R (x + b) a dx = 2 + a2 a (x + b) lim Solution 13.15 Let CR be the semicircular arc from R to R in the upper half plane. Let C be the union of CR and the interval 708

R

[R, R]. We can evaluate the principal value of the integral along C with Result 13.3.2.

m n

f (x) dx = 2

C k=1

Res (f (z), zk ) +

k=1

Res(f (z), xk )

CR zCR

R

R R

= lim f (z) dz

R C m n

= 2

k=1

Res (f (z), zk ) +

k=1

Res(f (z), xk )

If we close the path of integration in the lower half plane, the contour will be in the negative direction.

m n

f (x) dx = 2

k=1

Res (f (z), zk )

k=1

Res(f (z), xk )

x2

2 1 2 + 1 + 1

1 2

d,

2 1 d 2 + + 1 There are rst order poles at = 0 and = 1/2 3/2. We close the path of integration in the upper half plane with a semi-circle. Since the integrand decays like 3 the integrand along the semi-circle vanishes as the radius tends to innity. The value of the integral is thus 2z 1 2z 1 1 3 Res , z = 0 + 2 Res ,z = + z2 + z + 1 z2 + z + 1 2 2 lim 2 2+z+1 z

z0

+ 2

z(1+ 3)/2

lim

2z 1 z + (1 + 3)/2

2x 2 dx = x2 + x + 1 3

x4

1 dx. +1

The integrand

1 z 4 +1

is analytic on the real axis and has isolated singularities at the points z = {e/4 , e3/4 , e5/4 , e7/4 }.

R

lim

R max

zCR

z4

1 +1 710

= lim

R4

1 1

= 0,

x4

1 dx = 2 Res +1

z4

1 , e/4 +1

+ Res

z4

1 , e3/4 +1

The appropriate residues are, Res 1 , e/4 4+1 z z e/4 4 ze/4 z + 1 1 = lim 3 ze/4 4z 1 = e3/4 4 1 = , 4 2 = lim 1 4(e3/4 )3

Res

z4

1 , e3/4 +1

= =

x4

1 dx = 2 +1

1 1 + 4 2 4 2

x4

1 dx = +1 2

711

2. Now consider

The integrand is analytic on the real axis and has second order poles at z = . Since the integrand decays suciently fast at innity, lim R max

zCR

z2 (z 2 + 1)2

= lim

R2 (R2 1)2

=0

z2 ,z = (z 2 + 1)2

Res

z2 ,z = (z 2 + 1)2

is an odd function,

cos(x) dx = 1 + x2

ex dx 1 + x2

Since ez /(1 + z 2 ) is analytic except for simple poles at z = and the integrand decays suciently fast in the upper half plane, ez 1 lim R max = lim R 2 =0 2 R zCR 1 + z R R 1 we can apply Result 13.4.1.

ex dx = 2 Res 1 + x2 e1 = 2 2

ez ,z = (z )(z + )

cos(x) dx = 2 1+x e

Solution 13.18 Consider the function f (z) = The value of the function on the imaginary axis: y 6 (y 4 + 1)2 is a constant multiple of the value of the function on the real axis: x6 . (x4 + 1)2 713 z6 . (z 4 + 1)2

Thus to evaluate the real integral we consider the path of integration, C, which starts at the origin, follows the real axis to R, follows a circular path to R and then follows the imaginary axis down to the origin. f (z) has second back order poles at the fourth roots of 1: (1 )/ 2. Of these only (1 + )/ 2 lies inside the path of integration. We evaluate the contour integral with the Residue Theorem. For R > 1:

z6 dz = 2 Res (z 4 + 1)2

z6 , z = e/4 (z 4 + 1)2 z6 d (z e/4 )2 4 = 2 lim (z + 1)2 ze/4 dz d z6 = 2 lim (z e3/4 )2 (z e5/4 )2 (z e7/4 )2 ze/4 dz = 2 lim

ze/4

The integral along the circular part of the contour, CR , vanishes as R . We demonstrate this with the maximum 714

CR

0 x6 (y)6 3 dx + dy = (1 + ) 4 2 (x4 + 1)2 8 2 ((y) + 1) 0 6 6 y 3 x dx + dy = (1 + ) 4 + 1)2 4 + 1)2 (x (y 8 2 0 0 6 x 3 (1 + ) dx = (1 + ) 4 + 1)2 (x 8 2 0 0

x6 3 dx = 4 + 1)2 (x 8 2

Fourier Integrals

Solution 13.19 We know that

eR sin d <

0

. R

715

First take the case that is positive and the semi-circle is in the upper half plane. f (z) ez dz

CR CR

ez dz max |f (z)|

zCR

eR e R e d max |f (z)|

zCR

=R

0

zCR

max |f (z)| <R R zCR = max |f (z)| zCR 0 as R The procedure is almost the same for negative . Solution 13.20 First we write the integral in terms of Fourier integrals.

cos 2x dx = x

e2x dx + 2(x )

e2x dx 2(x )

1 Note that 2(z) vanishes as |z| . We close the former Fourier integral in the upper half plane and the latter in the lower half plane. There is a rst order pole at z = in the upper half plane.

e2x e2z dx = 2 Res , z = 2(z ) 2(x ) e2 = 2 2 There are no singularities in the lower half plane.

cos 2x dx = e2 x

Solution 13.21 We are considering the integral sin x dx. x The integrand is an entire function. So it doesnt appear that the residue theorem would directly apply. Also the integrand is unbounded as x + and x , so closing the integral in the upper or lower half plane is not directly applicable. In order to proceed, we must write the integrand in a dierent form. Note that

cos x dx = 0 x

since the integrand is odd and has only a rst order pole at x = 0. Thus

x sin x e dx = dx. x x

Let CR be the semicircular arc in the upper half plane from R to R. Let C be the closed contour that is the union of CR and the real interval [R, R]. If we close the path of integration with a semicircular arc in the upper half plane, we have sin x ez ez dx = lim dz dz , R x C z CR z provided that all the integrals exist. The integral along CR vanishes as R by Jordans lemma. By the residue theorem for principal values we have ez dz = Res z 717 ez ,0 z = .

sin x dx = . x

Solution 13.22 1 Note that (1 cos x)/x2 has a removable singularity at x = 0. The integral decays like x2 at innity, so the integral 2 exists. Since (sin x)/x is a odd function with a simple pole at x = 0, the principal value of its integral vanishes. sin x dx = 0 2 x 1 cos x 1 cos x sin x 1 ex dx = dx = dx x2 x2 x2

Let CR be the semi-circle of radius R in the upper half plane. Since lim R max

zCR

1 ez z2

= lim R

R

2 =0 R2

CR

1 ex dx = Res x2

1 ez ,z = 0 z2

1 ez ez = lim = lim z0 z0 z 1

1 cos x dx = x2

718

0

Note that the integrand has removable singularities at the points x = 0, 1 and is an even function.

0

sin(x) 1 dx = 2) x(1 x 2

Note that

cos(x) is an odd function with rst order poles at x = 0, 1. x(1 x2 ) cos(x) dx = 0 2 x(1 x ) ex sin(x) dx = dx. x(1 x2 ) 2 x(1 x2 )

Let CR be the semi-circle of radius R in the upper half plane. Since lim R max

zCR

ez z(1 z 2 )

= lim R

R

1 R(R2 1)

=0

CR

We can apply Result 13.4.1. ex dx = 2 x(1 x2 ) 2 ez ez , z = 0 + Res ,z = 1 z(1 z 2 ) z(1 z 2 ) ez + Res , z = 1 z(1 z 2 ) ez ez ez lim lim + lim z0 1 z 2 z0 z(1 + z) z0 z(1 z) 1 1 1 + 2 2 Res

0

2 = 2

sin(x) dx = x(1 x2 )

Solution 13.24 Let C be the boundary of the region < r < R, 0 < < . Choose the branch of the logarithm with a branch cut on the negative imaginary axis and the angle range /2 < < 3/2. We consider the integral of log2 z/(1 + z 2 ) on this contour. log2 z dz = 2 Res 1 + z2 log2 z ,z = 1 + z2 log2 z = 2 lim z z + (/2)2 = 2 2 3 = 4 720

Let CR be the semi-circle from R to R in the upper half plane. We show that the integral along CR vanishes as R with the maximum modulus integral bound. log2 z log2 z dz R max zCR 1 + z 2 1 + z2 ln2 R + 2 ln R + 2 R R2 1 0 as R Let C be the semi-circle from to in the upper half plane. We show that the integral along C vanishes as 0 with the maximum modulus integral bound. log2 z log2 z dz max zC 1 + z 2 1 + z2 ln2 2 ln + 2 1 2 0 as 0

CR

Now we take the limit as 0 and R for the integral along C. log2 z 3 dz = 2 4 C 1+z 2 0 ln r (ln r + )2 3 dr + dr = 1 + r2 1 + r2 4 0 2 ln x ln x 1 3 dx + 2 dx = 2 dx 1 + x2 1 + x2 1 + x2 4 0 0

2

0

(13.1)

We evaluate the integral of 1/(1 + x2 ) by extending the path of integration to ( . . . ) and closing the path of integration in the upper half plane. Since

R

lim

R max

zCR

1 1 + z2

lim

R2

1 1

= 0,

721

the integral of 1/(1 + z 2 ) along CR vanishes as R . We evaluate the integral with the Residue Theorem.

2 0

0

2

0

ln x 3 dx = 1 + x2 4

We equate the real and imaginary parts to solve for the desired integrals.

0

ln2 x 3 dx = 1 + x2 8 ln x dx = 0 1 + x2

with a branch cut on the real axis and 0 < arg(z) < 2. Let C and CR denote the circles of radius and R where < 1 < R. C is negatively oriented; CR is positively oriented. Consider the closed contour, C, that is traced by a point moving from to R above the branch cut, next around CR back to R, then below the cut to , and nally around C back to . (See Figure 13.11.) 722

CR C

We can evaluate the integral of f (z) along C with the residue theorem. For R > 3, there are rst order poles inside the path of integration at z = 2 and z = 3.

z2

log z dz = 2 Res + 5z + 6

log z , z = 2 + Res + 5z + 6 log z log z + lim = 2 lim z3 z + 2 z2 z + 3 log(2) log(3) + = 2 1 1 = 2 (log(2) + log(3) ) 2 = 2 log 3 z2 723

z2

log z , z = 3 + 5z + 6

In the limit as

0, the integral along C vanishes. We demonstrate this with the maximum modulus theorem. z2 log z log z dz 2 max 2 zC z + 5z + 6 + 5z + 6 2 log 2 65 2 0 as 0

In the limit as R , the integral along CR vanishes. We again demonstrate this with the maximum modulus theorem. z2 log z log z dz 2R max 2 zCR z + 5z + 6 + 5z + 6 log R + 2 2R 2 R 5R 6 0 as R

CR

0 log x log x + 2 dx + dx 2 x2 + 5x + 6 0 x + 5x + 6 log x = 2 dx 2 + 5x + 6 x 0

2

0 0

x2

log x dx = 2 log + 5x + 6 3 2

2 3

log x dx = log x2 + 5x + 6

724

I(a) =

0

xa dx. (x + 1)2

0

xa dx = (x + 1)2

1 0

xa dx + (x + 1)2

xa dx (x + 1)2

1 0

xa dx (x + 1)2 =

1 0 1 0 1

(a)

dx

This integral converges for (a) > 1. Next we work with the integral on (1 . . . ).

1

xa dx (x + 1)2 =

1 1

(a)2

dx

Thus we see that the integral dening I(a) converges in the strip, 1 < (a) < 1. The integral converges uniformly in any closed subset of this domain. Uniform convergence means that we can dierentiate the integral with respect to a and interchange the order of integration and dierentiation.

I (a) =

0

xa log x dx (x + 1)2

Thus we see that I(a) is analytic for 1 < (a) < 1. For 1 < (a) < 1 and a = 0, z a is multi-valued. Consider the branch of the function f (z) = z a /(z + 1)2 with a branch cut on the positive real axis and 0 < arg(z) < 2. We integrate along the contour in Figure 13.11. The integral on C vanishes as 0. We show this with the maximum modulus integral bound. First we write z a in modulus-argument form, z = e , where a = + . z a = ea log z = e(+)(ln = e ln = e e

+) +( ln +)

( log +)

CR

Above the branch cut, (z = r e0 ), the integrand is f (r e0 ) = Below the branch cut, (z = r e2 ), we have, f (r e2 ) = Now we use the residue theorem.

0

ra . (r + 1)2

e2a ra . (r + 1)2

ra dr + (r + 1)2

e2a ra za dr = 2 Res , 1 2 (z + 1)2 (r + 1) ra d a 1 e2a dr = 2 lim (z ) 2 z1 dz (r + 1) 0 ra a e(a1) dr = 2 (r + 1)2 1 e2a 0 a r 2a dr = a 2 e (r + 1) ea 0 xa a dx = for 1 < (a) < 1, a = 0 2 (x + 1) sin(a) 727

The right side has a removable singularity at a = 0. We use analytic continuation to extend the answer to a = 0.

I(a) =

0

xa dx = (x + 1)2

a sin(a)

for 1 < (a) < 1, a = 0 for a = 0 xa log2 x dx (x + 1)2 0 log2 x I (0) = dx (x + 1)2 0

We can derive the last two integrals by dierentiating this formula with respect to a and taking the limit a 0. I (a) = xa log x dx, (x + 1)2 0 log x I (0) = dx, (x + 1)2 0 I (a) =

We can nd I (0) and I (0) either by dierentiating the expression for I(a) or by nding the rst few terms in the Taylor series expansion of I(a) about a = 0. The latter approach is a little easier.

I(a) =

n=0

I (n) (0) n a n!

I(a) = =

a sin(a)

I (0) =

0

I (0) =

0

728

I(a) =

0

xa dx. 1 + x2

0

xa dx = 1 + x2

1 0

xa dx + 1 + x2

xa dx 1 + x2

1 0

xa dx 1 + x2 =

1 0 1 0 1

xa |dx| 1 + x2 x (a) dx 1 + x2 x

(a)

dx

(a) > 1.

1

xa dx 1 + x2 =

1 1

xa |dx| 1 + x2 x (a) dx 1 + x2 x

(a)2

dx

CR C

Figure 13.11:

Thus we see that the integral dening I(a) converges in the strip, 1 < (a) < 1. The integral converges uniformly in any closed subset of this domain. Uniform convergence means that we can dierentiate the integral with respect to a and interchange the order of integration and dierentiation.

I (a) =

0

xa log x dx 1 + x2

2. For 1 < (a) < 1 and a = 0, z a is multi-valued. Consider the branch of the function f (z) = z a /(1 + z 2 ) with a branch cut on the positive real axis and 0 < arg(z) < 2. We integrate along the contour in Figure 13.11. The integral on C vanishes are 0. We show this with the maximum modulus integral bound. First we write 730

Now we bound the integral. za za dz 2 max zC 1 + z 2 1 + z2 e2|| 1 2 0 as 0 2 The integral on CR vanishes as R . za za dz 2R max zCR 1 + z 2 1 + z2 R e2|| 2R 2 R 1 0 as R

CR

0

ra dr + 1 + r2

e2a ra za za dr = 2 Res , + Res , 2 1 + z2 1 + z2 1+r xa za za 1 e2a dx = 2 lim + lim z z + z z 1 + x2 0 a/2 a e ea3/2 x 1 e2a dx = 2 + 1 + x2 2 2 0 ea/2 ea3/2 xa dx = 1 + x2 1 e2a 0 ea/2 (1 ea ) xa dx = 1 + x2 (1 + ea )(1 ea ) 0 xa dx = a/2 2 e 1+x + ea/2 0 xa dx = for 1 < (a) < 1, a = 0 2 1+x 2 cos(a/2) 0

I(a) =

0

xa dx = 1 + x2 2 cos(a/2)

732

3. We can derive the last two integrals by dierentiating this formula with respect to a and taking the limit a 0. xa log x I (a) = dx, 1 + x2 0 log x I (0) = dx, 1 + x2 0

We can nd I (0) and I (0) either by dierentiating the expression for I(a) or by nding the rst few terms in the Taylor series expansion of I(a) about a = 0. The latter approach is a little easier.

I(a) =

n=0

I (n) (0) n a n!

I(a) =

I (0) =

0

log x dx = 0 1 + x2 log2 x 3 dx = 1 + x2 8

I (0) =

0

733

1

xa f (x) dx

0

xa f (x)

1

will converge absolutely. These are sucient conditions for the absolute convergence of

xa f (x) dx.

0

Contour Integration. We put a branch cut on the positive real axis and choose 0 < arg(z) < 2. We consider the integral of z a f (z) on the contour in Figure 13.11. Let the singularities of f (z) occur at z1 , . . . , zn . By the residue theorem,

n

z a f (z) dz = 2

C 1 k=1

Res (z a f (z), zk ) .

On the circle of radius , the integrand is o( ). Since the length of C is 2 , the integral on C vanishes as 0. On the circle of radius R, the integrand is o(R1 ). Since the length of CR is 2R, the integral on CR vanishes as R . The value of the integrand below the branch cut, z = x e2 , is f (x e2 ) = xa e2a f (x) In the limit as 0 and R we have

0 n

x f (x) dx +

0

x e

a 2a

f (x) dx = 2

k=1

Res (z a f (z), zk ) .

734

2 x f (x) dx = 1 e2a

a

Res (z a f (z), zk ) .

k=1

Solution 13.29 In the interval of uniform convergence of th integral, we can dierentiate the formula

xa f (x) dx =

0

2 1 e2a

Res (z a f (z), zk ) ,

k=1

0

a a

a

Res (z a f (z), zk ) .

k=1 n

a

Res (z a f (z), zk ) ,

k=1

0

m x f (x) log x dx = m a

a m

2 1 e2a

Res (z a f (z), zk ) ,

k=1

Solution 13.30 Taking the limit as a 0 Z in the solution of Exercise 13.26 yields

f (x) dx = 2 lim

0

n k=1

a0

The numerator vanishes because the sum of all residues of z n f (z) is zero. Thus we can use LHospitals rule.

f (x) dx = 2 lim

0

n k=1

a0

735

f (x) dx =

0 k=1

This suggests that we could have derived the result directly by considering the integral of f (z) log z on the contour in Figure 13.11. We put a branch cut on the positive real axis and choose the branch arg z = 0. Recall that we have assumed that f (z) has only isolated singularities and no singularities on the positive real axis, [0, ). By the residue theorem,

n

f (z) log z dz = 2

C k=1

By assuming that f (z) z as z 0 where > 1 the integral on C will vanish as 0. By assuming that f (z) z as z where < 1 the integral on CR will vanish as R . The value of the integrand below the branch cut, z = x e2 is f (x)(log x + 2). Taking the limit as 0 and R , we have

0 n

f (x) log x dx +

0

f (x)(log x + 2) dx = 2

k=1

0

f (x) dx =

k=1

Solution 13.31 Consider the integral of f (z) log2 z on the contour in Figure 13.11. We put a branch cut on the positive real axis and choose the branch 0 < arg z < 2. Let z1 , . . . zn be the singularities of f (z). By the residue theorem,

n

f (z) log z dz = 2

C k=1

If f (z) z as z 0 for some > 1 then the integral on C will vanish as 0. f (z) z as z for some < 1 then the integral on CR will vanish as R . Below the branch cut the integrand is f (x)(log x + 2)2 . 736

Thus we have

0 n

f (x) log x dx +

0

f (x)(log x + 4 log x 4 ) dx = 2

k=1 n 2 0 n

4

0 0

f (x) log x dx + 4

f (x) dx = 2

k=1

n

1 f (x) log x dx = 2

k=1 k=1

0 a

xa dx. 1 + x4

Since the integrand behaves like x near x = 0 we must have (a) > 1. Since the integrand behaves like xa4 at innity we must have (a 4) < 1. The integral converges for 1 < (a) < 3. Contour Integration. The function za f (z) = 1 + z4 has rst order poles at z = (1 )/ 2 and a branch point at z = 0. We could evaluate the real integral by putting a branch cut on the positive real axis with 0 < arg(z) < 2 and integrating f (z) on the contour in Figure 13.12. Integrating on this contour would work because the value of the integrand below the branch cut is a constant times the value of the integrand above the branch cut. After demonstrating that the integrals along C and CR vanish in the limits as 0 and R we would see that the value of the integral is a constant times the sum of the residues at the four poles. However, this is not the only, (and not the best), contour that can be used to evaluate the real integral. Consider the value of the integral on the line arg(z) = . f (r e ) = ra ea 1 + r4 e4

737

CR C

Figure 13.12: Possible path of integration for f (z) = If is a integer multiple of /2 then the integrand is a constant multiple of f (x) = ra . 1 + r4

za 1+z 4

Thus any of the contours in Figure 13.13 can be used to evaluate the real integral. The only dierence is how many residues we have to calculate. Thus we choose the rst contour in Figure 13.13. We put a branch cut on the negative real axis and choose the branch < arg(z) < to satisfy f (1) = 1. We evaluate the integral along C with the Residue Theorem. za dz = 2 Res 1 + z4 za 1+ ,z = 1 + z4 2

CR C C

CR C

CR

za 1+z 4

The integral on C vanishes as 0. We demonstrate this with the maximum modulus integral bound.

C

CR

The value of the integrand on the positive imaginary axis, z = x e/2 , is (x e/2 )a xa ea/2 = . 1 + (x e/2 )4 1 + x4 We take the limit as 0 and R . xa dx + 1 + x4 0 xa ea/2 /2 za e dx = 2 Res , e/4 1 + x4 1 + z4 z a (z e/2 ) xa dx = 2 lim 1 e(a+1)/2 1 + x4 1 + z4 ze/4 0 2 az a (z e/2 ) + z a xa dx = lim 1 + x4 1 e(a+1)/2 ze/4 4z 3 0 ea/4 2 xa dx = 1 + x4 1 e(a+1)/2 4 e3/4 0 xa dx = 4 (a+1)/4 e(a+1)/4 ) 1+x 2(e 0

0 0

xa dx = csc 4 1+x 4

(a + 1) 4

Solution 13.33 Consider the branch of f (z) = z 1/2 log z/(z + 1)2 with a branch cut on the positive real axis and 0 < arg z < 2. We integrate this function on the contour in Figure 13.11. We use the maximum modulus integral bound to show that the integral on C vanishes as 0. z 1/2 log z z 1/2 log z dz 2 max C (z + 1)2 (z + 1)2 1/2 (2 log ) = 2 (1 )2 0 as 0 740

The integral on CR vanishes as R . z 1/2 log z z 1/2 log z dz 2R max CR (z + 1)2 (z + 1)2 R1/2 (log R + 2) (R 1)2 0 as R = 2R Above the branch cut, (z = x e0 ), the integrand is, f (x e0 ) = Below the branch cut, (z = x e2 ), we have, f (x e2 ) = x1/2 (log x + ) . (x + 1)2 x1/2 log x . (x + 1)2

CR

0

0

2

0

0

2

0

0

2

0

2

0

x1/2 dx = 2 + 2 2 (x + 1)

0

x1/2 dx = . (x + 1)2 2

Exploiting Symmetry

Solution 13.34 Convergence. The integrand, eaz eaz = , ez ez 2 sinh(z) has rst order poles at z = n, n Z. To study convergence, we split the domain of integration.

1 1

+

1

+

1

1

eax dx ex ex

exists for any a because the integrand has only a rst order pole on the path of integration. Now consider the integral on (1 . . . ).

1

eax dx = ex ex

e(a1)x dx 1 e2x

1 1 e2

e(a1)x dx

1

1

eax dx = ex ex

e(a+1)x dx 1 e2x

1

1 1 e2

e(a+1)x dx

This integral converges for a + 1 > 0; a > 1. Thus we see that the integral for I(a) converges for real a, |a| < 1. Choice of Contour. Consider the contour C that is the boundary of the region: R < x < R, 0 < y < . The integrand has no singularities inside the contour. There are rst order poles on the contour at z = 0 and z = . The value of the integral along the contour is times the sum of these two residues. The integrals along the vertical sides of the contour vanish as R .

R+ R

R+ R

Evaluating the Integral. We take the limit as R and apply the residue theorem.

eax dx + ex ex

+ +

eax dx + ex ex

(1 + ea )

ea(x+ z eaz (z ) eaz dz = lim + lim z0 2 sinh(z) z 2 sinh(z) ex+ ex az ax az az e +az e e +a(z ) eaz e dx = lim + lim z0 2 cosh(z) z ex ex 2 cosh(z) ea eax 1 (1 + ea ) dx = + x ex 2 2 e ax a e (1 e ) dx = x ex 2(1 + ea ) e eax (ea/2 ea/2 ) dx = x x 2 ea/2 + ea/2 e e

eax a dx = tan x ex e 2 2

Solution 13.35 1. dx 1 dx = 2 2 (1 + x2 )2 (1 + x2 ) 0 We apply Result 13.4.1 to the integral on the real axis. First we verify that the integrand vanishes fast enough in the upper half plane.

R

lim

R max

zCR

1 (1 + z 2 )2 744

= lim

1 (R2 1)2

=0

dx = 2 Res (1 + x2 )2

dx = 2 )2 4 (1 + x

2. We wish to evaluate

0

dx . x3 + 1

Let the contour C be the boundary of the region 0 < r < R, 0 < < 2/3. We factor the denominator of the integrand to see that the contour encloses the simple pole at e/3 for R > 1. z 3 + 1 = (z e/3 )(z + 1)(z e/3 ) 745

ze/3

(z e/3 )

z3

1 +1

1 (z + 1)(z e/3 ) 1 = /3 (e +1)(e/3 e/3 ) e/3 = 3 We use the residue theorem to evaluate the integral. = lim

ze/3

dz 2 e/3 = z3 + 1 3

R 0

C

dz = 3+1 z

R 0

dx + 3+1 x

0

CR R

dz 3+1 z

e2/3 dx x3 + 1

= (1 + e/3 )

dx + x3 + 1

CR

dz z3 + 1

We show that the integral along CR vanishes as R with the maximum modulus integral bound.

CR

z3

Figure 13.14: The semi-circle contour. Solution 13.36 Method 1: Semi-Circle Contour. We wish to evaluate the integral

I=

0

dx . 1 + x6

We note that the integrand is an even function and express I as an integral over the whole real axis. I= 1 2

dx 1 + x6

Now we will evaluate the integral using contour integration. We close the path of integration in the upper half plane. Let R be the semicircular arc from R to R in the upper half plane. Let be the union of R and the interval [R, R]. (See Figure 13.14.) We can evaluate the integral along with the residue theorem. The integrand has rst order poles at z = e(1+2k)/6 , 747

k = 0, 1, 2, 3, 4, 5. Three of these poles are in the upper half plane. For R > 1, we have

1 dz = 2 Res z6 + 1 k=0

2

= 2

k=0

ze(1+2k)/6

= 2

k=0 2

lim

ze(1+2k)/6

1 6z 5

Now we examine the integral along R . We use the maximum modulus integral bound to show that the value of the 748

Now we are prepared to evaluate the original real integral. 1 2 dz = 6 3 z +1 1 1 2 dx + dz = 6+1 6+1 x 3 R z

R R

0

x6

1 2 dx = +1 3 1 dx = 6+1 x 3

We would get the same result by closing the path of integration in the lower half plane. Note that in this case the closed contour would be in the negative direction. Method 2: Wedge Contour. Consider the contour , which starts at the origin, goes to the point R along the real axis, then to the point R e/3 along a circle of radius R and then back to the origin along the ray = /3. (See Figure 13.15.) We can evaluate the integral along with the residue theorem. The integrand has one rst order pole inside the 749

Figure 13.15: The wedge contour. contour at z = e/6 . For R > 1, we have z6 1 dz = 2 Res +1 1 , e/6 +1 z e/6 = 2 lim 6 ze/6 z + 1 z6

Since the numerator and denominator vanish, we apply LHospitals rule. = 2 lim

ze/6

1 6z 5

5/6 e = 3 = e/3 3 Now we examine the integral along the circular arc, R . We use the maximum modulus integral bound to show that 750

Now we are prepared to evaluate the original real integral. 1 dz = e/3 6 3 z +1 0 1 1 1 dx + dz + dz = e/3 6+1 6+1 6+1 x 3 R z R e/3 z

R

R 0 R 0

1 dx + x6 + 1

1 dz + z6 + 1

0 R

1 e/3 dx = e/3 x6 + 1 3

We take the limit as R . 1 e/3 1 dx = e/3 +1 3 0 /3 1 e dx = 6+1 x 3 1 e/3 0 1 (1 3)/2 dx = x6 + 1 3 1 (1 + 3)/2 1 dx = 6+1 x 3 0 x6

These two functions are plotted in Figure 13.16. To prove this inequality analytically, note that the two functions are equal at the endpoints of the interval and that cos(2) is concave downward on the interval, d2 cos(2) = 4 cos(2) 0 for 0 , d2 4 while 1 4/ is linear. Let CR be the quarter circle of radius R from = 0 to = /4. The integral along this contour vanishes as R . e

CR z 2 /4

dz

0 /4

e(R e R eR

0 /4

)2

R e d d d

/4 0

cos(2)

R eR

2 (14/)

= R

Let C be the boundary of the domain 0 < r < R, 0 < < /4. Since the integrand is analytic inside C the integral along C is zero. Taking the limit as R , the integral from r = 0 to along = 0 is equal to the integral from r = 0 to along = /4.

0 0 0 0

ex dx =

0

1+ x 2

1+ dx 2

2

1+ 2 ex dx = 2

ex dx

1+ 2 ex dx = 2

cos(x2 ) sin(x2 ) dx

0

1 2 ex dx = 2

cos(x2 ) dx +

0 0

sin(x2 ) dx +

cos(x2 ) dx

0 0

sin(x2 ) dx

We equate the imaginary part of this equation to see that the integrals of cos(x2 ) and sin(x2 ) are equal.

cos(x2 ) dx =

0 0

sin(x2 ) dx

The real part of the equation then gives us the desired identity.

cos(x2 ) dx =

0 0

1 sin(x2 ) dx = 2

ex dx

Solution 13.38 Consider the box contour C that is the boundary of the rectangle R x R, 0 y . There is a removable 753

C

R+ R

The value of the integrand on the top of the box is x + x + = . sinh(x + ) sinh x Taking the limit as R ,

x x + dx + dx = 2 . sinh x sinh x

Note that

x 2 dx = sinh x 2

754

eax dx. ex +1

Consider the rectangular contour in the positive direction with corners at R and R + 2. With the maximum modulus integral bound we see that the integrals on the vertical sides of the contour vanish as R .

R+2 R R R+2

In the limit as R tends to innity, the integral on the rectangular contour is the sum of the integrals along the top and bottom sides.

eaz eax dz = dx + x ez +1 e +1 eaz dz = (1 e2a ) ez +1 C

The only singularity of the integrand inside the contour is a rst order pole at z = . We use the residue theorem to evaluate the integral. eaz dz = 2 Res ez +1 eaz , ez +1 (z ) eaz = 2 lim z ez +1 a(z ) eaz + eaz = 2 lim z ez = 2 ea 755

We equate the two results for the value of the contour integral. (1 e2a )

cosh(bx) dx. cosh x First make the change of variables x 2x in the previous result. e2ax 2 dx = 2x +1 sin(a) e (2a1)x e dx = x x sin(a) e + e Now we set b = 2a 1.

Since the cosine is an even function, we also have, ebx dx = cosh x cos(b/2) for 1 < b < 1

Adding these two equations and dividing by 2 yields the desired result.

756

Solution 13.40 Real-Valued Parameters. For b = 0, the integral has the value: /a2 . If b is nonzero, then we can write the integral as d 1 F (a, b) = 2 . b 0 (a/b + cos )2 We dene the new parameter c = a/b and the function,

G(c) = b2 F (a, b) =

0

d . (c + cos )2

If 1 c 1 then the integrand has a double pole on the path of integration. The integral diverges. Otherwise the integral exists. To evaluate the integral, we extend the range of integration to (0..2) and make the change of variables, z = e to integrate along the unit circle in the complex plane. G(c) = For this change of variables, we have, cos = z + z 1 , 2 d = dz . z 1 2

2 0

d (c + cos )2

G(c) =

1 2

If c > 1, then c c2 1 is outside the unit circle and c + c2 1 is inside the unit circle. The integrand has a second order pole inside the path of integration. We evaluate the integral with the residue theorem.

G(c) = 22 Res

z , z = c + c2 1 (z + c + c2 1)2 (z + c c2 1)2 d z = 4 lim zc+ c2 1 dz (z + c + c2 1)2 1 2z = 4 lim zc+ c2 1 (z + c + c2 1)2 (z + c + c2 1)3 c + c2 1 z = 4 lim zc+ c2 1 (z + c + c2 1)3 2c = 4 (2 c2 1)3 c = 2 1)3 (c 758

If c < 1, then c

c2 1 is outside the unit circle. z G(c) = 22 Res , z = c c2 1 (z + c + c2 1)2 (z + c c2 1)2 d z = 4 lim zc c2 1 dz (z + c c2 1)2 1 2z = 4 lim zc c2 1 (z + c c2 1)2 (z + c c2 1)3 c c2 1 z = 4 lim zc c2 1 (z + c c2 1)3 2c = 4 (2 c2 1)3 c = 2 1)3 (c

Thus we see that = (cc 3 2 1) G(c) = c 3 (c2 1) is divergent In terms of F (a, b), this is = (aa 2 )3 2 b F (a, b) = a 2 3 (a2 b ) is divergent Complex-Valued Parameters. Consider

for c > 1, for c < 1, for 1 c 1. for a/b > 1, for a/b < 1, for 1 a/b 1.

G(c) =

0

d , (c + cos )2

759

for complex c. Except for real-valued c between 1 and 1, the integral converges uniformly. We can interchange dierentiation and integration. The derivative of G(c) is G (c) = =

0

d dc

d 2 0 (c + cos ) 2 d (c + cos )3

Thus we see that G(c) is analytic in the complex plane with a cut on the real axis from 1 to 1. The value of the function on the positive real axis for c > 1 is G(c) = c (c2 1)3 .

We use analytic continuation to determine G(c) for complex c. By inspection we see that G(c) is the branch of (c2 c , 1)3/2

with a branch cut on the real axis from 1 to 1 and which is real-valued and positive for real c > 1. Using F (a, b) = G(c)/b2 we can determine F for complex-valued a and b. Solution 13.41 First note that

cos x dx = ex + ex

ex dx ex + ex

ex

we have f (x + ) =

where C is the box contour with corners at R and R + . We can evaluate this integral with the residue theorem. We can write the integrand as ez . 2 cosh z

We see that the integrand has rst order poles at z = (n + 1/2). The only pole inside the path of integration is at z = /2.

ez dz = 2 Res ez + ez

ez ,z = ez + ez 2 z (z /2) e = 2 lim ez + ez z/2 z e +(z /2) ez = 2 lim ez ez z/2 e/2 = 2 /2 e e/2 = e/2 761

R+ R

ez ez dz max ez + ez z[R...R+] ez + ez 1 max R+y y[0...] e + eRy 1 max R y[0...] e + eR2y 1 = 2 sinh R 0 as R

ex dx + ex + ex

+ +

ez dz = e/2 ez + ez

(1 + e )

ex dx = e/2 x + ex e ex dx = /2 x + ex e e + e/2

Finally we have,

ex

cos x dx = /2 . x e + e/2 +e

Solution 13.42 1. To evaluate the integral we make the change of variables z = e . The path of integration in the complex plane 762

d = 1 + sin2 =

dz 1 1 )2 /4 z 1 (z z 4z dz 4 6z 2 + 1 z

4z dz 2 z1+ 2 z+1 2 z+1+ 2 C z 1 There are rst order poles at z = 1 2. The poles at z = 1 + 2 and z = 1 2 are inside the path of integration. We evaluate the integral with Cauchys Residue Formula. = z4 4z dz = 2 Res 6z 2 + 1 + Res = 8 4z , z = 1 + 2 2+1 6z 4z ,z = 1 2 z 4 6z 2 + 1 z4 2 z z1+ 2 z z+1 2 z+1+ 2

z=1+ 2

z1

z1

z+1+

z=1 2

/2

sin4 d =

0

1 4

sin4 d

0

763

Next we make the change of variables z = e . The path of integration in the complex plane is the positively oriented unit circle. We evaluate the integral with the residue theorem.

1 4

2 0

sin4 d =

dz 1 1 1 z 4 C 16 z z (z 2 1)4 1 = dz 64 C z5 6 4 1 = z 3 4z + 3 + 5 64 C z z z = 2 6 64 3 = 16

dz

Solution 13.43 1. Let C be the positively oriented unit circle about the origin. We parametrize this contour.

z = e ,

dz = e d, 764

(0 . . . 2)

We write sin and the dierential d in terms of z. Then we evaluate the integral with the Residue theorem.

2 0

1 d = 2 + sin

1 dz C 2 + (z 1/z)/(2) z 2 = dz 2 + 4z 1 C z 2 = dz 3 z+ 2 3 C z+ 2+ z+ 2 3 = 2 Res z + 2 + 3

, z = 2 +

cos(n) d =

0 2

for n Z+ for n = 0

cos(n) d = 1 2a cos + a2

en d 1 2a cos + a2

Let C be the positively oriented unit circle about the origin. We parametrize this contour. z = e , dz = e d, 765 ( . . . )

We write the integrand and the dierential d in terms of z. Then we evaluate the integral with the Residue theorem. en zn dz d = 2 2 z 1 2a cos + a C 1 a(z + 1/z) + a zn = dz 2 2 C az + (1 + a )z a zn dz = a C z 2 (a + 1/a)z + 1 zn = dz a C (z a)(z 1/a) zn = 2 Res ,z = a a (z a)(z 1/a) 2 an = a a 1/a 2an = 1 a2 We write the value of the integral for |a| < 1 and n Z0+ .

cos(n) d = 1 2a cos + a2

2

2an 1a2

for a = 0, n = 0 otherwise

Solution 13.44 Convergence. We consider the integral cos(n) sin(n) d = . sin 0 cos cos We assume that is real-valued. If is an integer, then the integrand has a second order pole on the path of integration, the principal value of the integral does not exist. If is real, but not an integer, then the integrand has a rst order pole on the path of integration. The integral diverges, but its principal value exists. I() = 766

Contour Integration. We will evaluate the integral for real, non-integer . I() = cos(n) d 0 cos cos 1 2 cos(n) d = 2 0 cos cos 2 en 1 d = 2 cos cos 0

We make the change of variables: z = e . I() = = Now we use the residue theorem. = zn , z = e (z e )(z e ) zn + Res , z = e e )(z e ) (z zn zn lim + lim ze z e ze z e en en + e e e e en en e e sin(n) sin() () Res 767 1 2 zn dz C (z + 1/z)/2 cos z z n dz ) C (z e )(z e

= = = =

I() =

0

Solution 13.45 Consider the integral x2 dx. 2 2 0 (1 + x ) 1 x We make the change of variables x = sin to obtain,

/2 0 1

/2 0 /2 0

cos d

sin2 d 1 + sin2

1 cos(2) d 3 cos(2)

2

1 cos d 3 cos

(z 1)2 dz C z(z 3 + 2 2)(z 3 2 2) There are two rst order poles inside the contour. The value of the integral is 2 4 Res (z 1)2 , 0 + Res z(z 3 + 2 2)(z 3 2 2) 768 (z 1)2 ,z = 3 2 2 z(z 3 + 2 2)(z 3 2 2)

z0

lim

(z 1)2 (z 3 + 2 2)(z 3 2 2)

z32 2

lim

(z 1)2 z(z 3 2 2)

1 0

(2 2) x2 dx = 4 (1 + x2 ) 1 x2

Innite Sums

Solution 13.46 From Result 13.10.1 we see that the sum of the residues of cot(z)/z 4 is zero. This function has simples poles at nonzero integers z = n with residue 1/n4 . There is a fth order pole at z = 0. Finding the residue with the formula 1 d4 lim 4 (z cot(z)) 4! z0 dz would be a real pain. After doing the dierentiation, we would have to apply LHospitals rule multiple times. A better way of nding the residue is with the Laurent series expansion of the function. Note that 1 1 = sin(z) z (z)3 /6 + (z)5 /120 1 1 = 2 /6 + (z)4 /120 z 1 (z) = 1 z 1+ 2 2 4 4 z z + 6 120 + 2 2 4 4 z z + 6 120

2

769

Now we nd the z 1 term in the Laurent series expansion of cot(z)/z 4 . cos(z) = 4 z 4 sin(z) z = 1 z5 1 2 2 4 4 z + z 2 24 1 z 1+ 2 2 4 4 z z + 6 120 + 2 2 4 4 z z + 6 120

2

4 4 4 4 + + 120 36 12 24

z4 +

4 1 + 45 z

1

n=1

4 1 = n4 90

Solution 13.47 For this problem we will use the following result: If

|z|

then the sum of all the residues of cot(z)f (z) is zero. If in addition, f (z) is analytic at z = n Z then

n=

We assume that is not an integer, otherwise the sum is not dened. Consider f (z) = 1/(z 2 2 ). Since

|z|

lim z

z2

1 = 0, 2

770

n=

n2

n=

n2

1 = Res 2 = lim

cot(z) , z = Res z 2 2

cot(z) , z = z 2 2

n=

n2

1 cot() = 2

771

772

Dont show me your technique. Show me your heart. -Tetsuyasu Uekuma

14.1

Notation

A dierential equation is an equation involving a function, its derivatives, and independent variables. If there is only one independent variable, then it is an ordinary dierential equation. Identities such as d f 2 (x) = 2f (x)f (x), dx and dy dx =1 dx dy The following equations for y(x) are

are not dierential equations. The order of a dierential equation is the order of the highest derivative. rst, second and third order, respectively. y = xy 2 773

y + 3xy + 2y = x2 y =y y The degree of a dierential equation is the highest power of the highest derivative in the equation. The following equations are rst, second and third degree, respectively. y 3y 2 = sin x (y )2 + 2x cos y = ex (y )3 + y 5 = 0 An equation is said to be linear if it is linear in the dependent variable. y cos x + x2 y = 0 is a linear dierential equation. y + xy 2 = 0 is a nonlinear dierential equation. A dierential equation is homogeneous if it has no terms that are functions of the independent variable alone. Thus an inhomogeneous equation is one in which there are terms that are functions of the independent variables alone. y + xy + y = 0 is a homogeneous equation. y + y + x2 = 0 is an inhomogeneous equation. A rst order dierential equation may be written in terms of dierentials. Recall that for the function y(x) the dierential dy is dened dy = y (x) dx. Thus the dierential equations y = x2 y can be denoted: dy = x2 y dx and dy + xy 2 dx = sin(x) dx. 774 and y + xy 2 = sin(x)

A solution of a dierential equation is a function which when substituted into the equation yields an identity. For example, y = x ln |x| is a solution of y y = 1. x We verify this by substituting it into the dierential equation. ln |x| + 1 ln |x| = 1 We can also verify that y = c ex is a solution of y y = 0 for any value of the parameter c. c ex c ex = 0

14.2

Example Problems

In this section we will discuss physical and geometrical problems that lead to rst order dierential equations.

14.2.1

Example 14.2.1 Consider a culture of bacteria in which each bacterium divides once per hour. Let n(t) N denote the population, let t denote the time in hours and let n0 be the population at time t = 0. The population doubles every hour. Thus for integer t, the population is n0 2t . Figure 14.1 shows two possible populations when there is initially a single bacterium. In the rst plot, each of the bacteria divide at times t = m for m N . In the second plot, they divide at times t = m 1/2. For both plots the population is 2t for integer t. We model this problem by considering a continuous population y(t) R which approximates the discrete population. In Figure 14.2 we rst show the population when there is initially 8 bacteria. The divisions of bacteria is spread out over each one second interval. For integer t, the populations is 8 2t . Next we show the population with a plot of the continuous function y(t) = 8 2t . We see that y(t) is a reasonable approximation of the discrete population. In the discrete problem, the growth of the population is proportional to its number; the population doubles every hour. For the continuous problem, we assume that this is true for y(t). We write this as an equation: y (t) = y(t). 775

16 12 8 4 1 2 3 4

16 12 8 4 1 2 3 4

128 96 64 32 1 2 3 4 128 96 64 32 1 2 3 4

Figure 14.2: The discrete population of bacteria and a continuous population approximation. That is, the rate of change y (t) in the population is proportional to the population y(t), (with constant of proportionality ). We specify the population at time t = 0 with the initial condition: y(0) = n0 . Note that y(t) = n0 et satises the problem: y (t) = y(t), For our bacteria example, = ln 2. y(0) = n0 .

Result 14.2.1 A quantity y(t) whose growth or decay is proportional to y(t) is modelled by the problem: y (t) = y(t), y(t0 ) = y0 . Here we assume that the quantity is known at time t = t0 . e is the factor by which the quantity grows/decays in unit time. The solution of this problem is y(t) = y0 e(tt0 ) .

776

14.3

F (x, y(x), c) = 0, (14.1)

Consider the equation: which implicitly denes a one-parameter family of functions y(x; c). Here y is a function of the variable x and the parameter c. For simplicity, we will write y(x) and not explicitly show the parameter dependence. Example 14.3.1 The equation y = cx denes family of lines with slope c, passing through the origin. The equation x2 + y 2 = c2 denes circles of radius c, centered at the origin. Consider a chicken dropped from a height h. The elevation y of the chicken at time t after its release is y(t) = hgt2 , where g is the acceleration due to gravity. This is family of functions for the parameter h. It turns out that the general solution of any rst order dierential equation is a one-parameter family of functions. This is not easy to prove. However, it is easy to verify the converse. We dierentiate Equation 14.1 with respect to x. Fx + Fy y = 0 (We assume that F has a non-trivial dependence on y, that is Fy = 0.) This gives us two equations involving the independent variable x, the dependent variable y(x) and its derivative and the parameter c. If we algebraically eliminate c between the two equations, the eliminant will be a rst order dierential equation for y(x). Thus we see that every one-parameter family of functions y(x) satises a rst order dierential equation. This y(x) is the primitive of the dierential equation. Later we will discuss why y(x) is the general solution of the dierential equation. Example 14.3.2 Consider the family of circles of radius c centered about the origin. x2 + y 2 = c2 Dierentiating this yields: 2x + 2yy = 0. It is trivial to eliminate the parameter and obtain a dierential equation for the family of circles. x + yy = 0 777

y = x/y y x

Figure 14.3: A circle and its tangent. We can see the geometric meaning in this equation by writing it in the form: x y = . y For a point on the circle, the slope of the tangent y is the negative of the cotangent of the angle x/y. (See Figure 14.3.)

Example 14.3.3 Consider the one-parameter family of functions: y(x) = f (x) + cg(x), where f (x) and g(x) are known functions. The derivative is y = f + cg . 778

We eliminate the parameter. gy g y = gf g f g gf y y=f g g Thus we see that y(x) = f (x)+cg(x) satises a rst order linear dierential equation. Later we will prove the converse: the general solution of a rst order linear dierential equation has the form: y(x) = f (x) + cg(x).

We have shown that every one-parameter family of functions satises a rst order dierential equation. We do not prove it here, but the converse is true as well.

Result 14.3.1 Every rst order dierential equation has a one-parameter family of solutions y(x) dened by an equation of the form: F (x, y(x); c) = 0. This y(x) is called the general solution. If the equation is linear then the general solution expresses the totality of solutions of the dierential equation. If the equation is nonlinear, there may be other special singular solutions, which do not depend on a parameter.

This is strictly an existence result. It does not say that the general solution of a rst order dierential equation can be determined by some method, it just says that it exists. There is no method for solving the general rst order dierential equation. However, there are some special forms that are soluble. We will devote the rest of this chapter to studying these forms. 779

14.4

Integrable Forms

In this section we will introduce a few forms of dierential equations that we may solve through integration.

14.4.1

Separable Equations

Any dierential equation that can written in the form P (x) + Q(y)y = 0 is a separable equation, (because the dependent and independent variables are separated). We can obtain an implicit solution by integrating with respect to x. P (x) dx + P (x) dx + Q(y) dy dx = c dx

Q(y) dy = c

Result 14.4.1 The separable equation P (x) + Q(y)y = 0 may be solved by integrating with respect to x. The general solution is P (x) dx + Q(y) dy = c.

Example 14.4.1 Consider the dierential equation y = xy 2 . We separate the dependent and independent variables 780

dy = xy 2 dx y 2 dy = x dx y 2 dy = y 1 = x dx + c

x2 +c 2 1 y= 2 x /2 + c

y =1 y y2

1 1 y =1 y y1 ln |y| ln |y 1| = x + c 781

We have an implicit equation for y(x). Now we solve for y(x). ln y =x+c y1 y = ex+c y1 y = ex+c y1 y = c ex 1 y1 c ex y= x c e 1 1 y= 1 + c ex

14.4.2

Exact Equations

P (x, y) dx + Q(x, y) dy = 0.

Any rst order ordinary dierential equation of the rst degree can be written as the total dierential equation,

If this equation can be integrated directly, that is if there is a primitive, u(x, y), such that du = P dx + Q dy, then this equation is called exact. The (implicit) solution of the dierential equation is u(x, y) = c, where c is an arbitrary constant. Since the dierential of a function, u(x, y), is du u u dx + dy, x y 782

P and Q are the partial derivatives of u: P (x, y) = In an alternate notation, the dierential equation P (x, y) + Q(x, y) is exact if there is a primitive u(x, y) such that du u u dy dy + = P (x, y) + Q(x, y) . dx x y dx dx The solution of the dierential equation is u(x, y) = c. Example 14.4.3 x+y is an exact dierential equation since d dx The solution of the dierential equation is 1 2 (x + y 2 ) = c. 2 Example 14.4.4 , Let f (x) and g(x) be known functions. g(x)y + g (x)y = f (x) 783 1 2 (x + y 2 ) 2 =x+y dy dx dy =0 dx dy = 0, dx (14.2) u , x Q(x, y) = u . y

is an exact dierential equation since d (g(x)y(x)) = gy + g y. dx The solution of the dierential equation is g(x)y(x) = y(x) = 1 g(x) f (x) dx + c f (x) dx + c . g(x)

A necessary condition for exactness. The solution of the exact equation P + Qy = 0 is u = c where u is the primitive of the equation, du = P + Qy . At present the only method we have for determining the primitive is dx guessing. This is ne for simple equations, but for more dicult cases we would like a method more concrete than divine inspiration. As a rst step toward this goal we determine a criterion for determining if an equation is exact. Consider the exact equation, P + Qy = 0, with primitive u, where we assume that the functions P and Q are continuously dierentiable. Since the mixed partial derivatives of u are equal, 2u 2u = , xy yx a necessary condition for exactness is P Q = . y x A sucient condition for exactness. This necessary condition for exactness is also a sucient condition. We demonstrate this by deriving the general solution of (14.2). Assume that P + Qy = 0 is not necessarily exact, but satises the condition Py = Qx . If the equation has a primitive, du u u dy dy + = P (x, y) + Q(x, y) , dx x y dx dx 784

then it satises

u = P, x

x

u = Q. y

(14.3)

Integrating the rst equation of (14.3), we see that the primitive has the form u(x, y) =

x0

P (, y) d + f (y),

for some f (y). Now we substitute this form into the second equation of (14.3). u = Q(x, y) y

x

Py (, y) d + f (y) = Q(x, y)

x0

x

Qx (, y) d + f (y) = Q(x, y)

x0

y

f (y) =

y0

Q(x0 , ) d

y

P (, y) d +

x0 y0

Q(x0 , ) d

is a primitive of the derivative; the equation is exact. The solution of the dierential equation is

x y

P (, y) d +

x0 y0

Q(x0 , ) d = c.

785

Even though there are three arbitrary constants: x0 , y0 and c, the solution is a one-parameter family. This is because changing x0 or y0 only changes the left side by an additive constant.

Result 14.4.2 Any rst order dierential equation of the rst degree can be written in the form dy P (x, y) + Q(x, y) = 0. dx This equation is exact if and only if Py = Qx . In this case the solution of the dierential equation is given by

x y

P (, y) d +

x0 y0

Q(x0 , ) d = c.

Exercise 14.1 Solve the following dierential equations by inspection. That is, group terms into exact derivatives and then integrate. f (x) and g(x) are known functions. 1.

y (x) y(x)

= f (x)

y cos x x + y tan x = cos x cos

Hint, Solution

14.4.3

Homogeneous coecient, rst order dierential equations form another class of soluble equations. We will nd that a change of dependent variable will make such equations separable or we can determine an integrating factor that will 786

make such equations exact. First we dene homogeneous functions. Eulers Theorem on Homogeneous Functions. The function F (x, y) is homogeneous of degree n if F (x, y) = n F (x, y). From this denition we see that F (x, y) = xn F 1, (Just formally substitute 1/x for .) For example, x2 y + 2y 3 , x+y are homogeneous functions of orders 3, 2 and 1, respectively. Eulers theorem for a homogeneous function of order n is: xy 2 , x cos(y/x) y . x

xFx + yFy = nF. To prove this, we dene = x, = y. From the denition of homogeneous functions, we have F (, ) = n F (x, y). We dierentiate this equation with respect to . F (, ) F (, ) + = nn1 F (x, y) xF + yF = nn1 F (x, y) Setting = 1, (and hence = x, = y), proves Eulers theorem.

Result 14.4.3 Eulers Theorem on Homogeneous Functions. If F (x, y) is a homogeneous function of degree n, then xFx + yFy = nF.

787

Homogeneous Coecient Dierential Equations. If the coecient functions P (x, y) and Q(x, y) are homogeneous of degree n then the dierential equation, P (x, y) + Q(x, y) dy = 0, dx (14.4)

is called a homogeneous coecient equation. They are often referred to simply as homogeneous equations. Transformation to a Separable Equation. We can write the homogeneous equation in the form, xn P 1, y dy y + xn Q 1, = 0, x x dx y dy y P 1, + Q 1, = 0. x x dx

y(x) . x

du dx

=0

du =0 dx

1 Q(1, u) du + =0 x P (1, u) + uQ(1, u) dx 1 ln |x| + du = c u + P (1, u)/Q(1, u) By substituting ln |c| for c, we can write this in a simpler form. 1 c du = ln . u + P (1, u)/Q(1, u) x 788

(x, y) =

is an integrating factor for the Equation 14.4. The proof of this is left as an exercise for the reader. (See Exercise 14.2.)

Result 14.4.4 Homogeneous Coecient Dierential Equations. If P (x, y) and Q(x, y) are homogeneous functions of degree n, then the equation P (x, y) + Q(x, y) dy =0 dx

is made separable by the change of independent variable u(x) = y(x) . The solution is deterx mined by 1 c du = ln . u + P (1, u)/Q(1, u) x Alternatively, the homogeneous equation can be made exact with the integrating factor (x, y) = 1 . xP (x, y) + yQ(x, y)

x2 y 2 + xy 789

1u2 u

du = ln c x

c x

u du = ln

1 2 c u = ln 2 x u = 2 ln |c/x| Thus the solution of the dierential equation is y = x Exercise 14.2 Show that (x, y) = 1 xP (x, y) + yQ(x, y) 2 ln |c/x|

is an integrating factor for the homogeneous equation, P (x, y) + Q(x, y) Hint, Solution Exercise 14.3 (mathematica/ode/rst order/exact.nb) Find the general solution of the equation dy y y =2 + dt t t Hint, Solution 790 dy = 0. dx

14.5

14.5.1

Homogeneous Equations

dy + p(x)y = 0. dx

Note that if we can nd one solution, then any constant times that solution also satises the equation. If fact, all the solutions of this equation dier only by multiplicative constants. We can solve any equation of this type because it is separable. y = p(x) y ln |y| = y = e y = c e p(x) dx + c

p(x) dx+c p(x) dx

Result 14.5.1 First Order, Linear Homogeneous Dierential Equations. The rst order, linear, homogeneous dierential equation, dy + p(x)y = 0, dx has the solution y = c e The solutions dier by multiplicative constants.

p(x) dx

(14.5)

791

Example 14.5.1 Consider the equation dy 1 + y = 0. dx x We use Equation 14.5 to determine the solution. y(x) = c e

1/x dx

for x = 0

y(x) = c e y(x) =

ln |x|

c |x| c y(x) = x

14.5.2

Inhomogeneous Equations

dy + p(x)y = f (x). dx

The rst order, linear, inhomogeneous dierential equation has the form (14.6)

This equation is not separable. Note that it is similar to the exact equation we solved in Example 14.4.4, g(x)y (x) + g (x)y(x) = f (x). To solve Equation 14.6, we multiply by an integrating factor. Multiplying a dierential equation by its integrating factor changes it to an exact equation. Multiplying Equation 14.6 by the function, I(x), yields, I(x) dy + p(x)I(x)y = f (x)I(x). dx

In order that I(x) be an integrating factor, it must satisfy d I(x) = p(x)I(x). dx 792

This is a rst order, linear, homogeneous equation with the solution I(x) = c e

p(x) dx

This is an integrating factor for any constant c. For simplicity we will choose c = 1.

To solve Equation 14.6 we multiply by the integrating factor and integrate. Let P (x) = eP (x) dy + p(x) eP (x) y = eP (x) f (x) dx d P (x) e y = eP (x) f (x) dx eP (x) f (x) dx + c eP (x) y yp + c yh

p(x) dx.

y = eP (x)

Note that the general solution is the sum of a particular solution, yp , that satises y + p(x)y = f (x), and an arbitrary constant times a homogeneous solution, yh , that satises y + p(x)y = 0. Example 14.5.2 Consider the dierential equation 1 y + y = x2 , x First we nd the integrating factor. I(x) = exp 1 dx x 793 = eln x = x x > 0.

10 5 -1 -5 -10

Figure 14.4: Solutions to y + y/x = x2 . We multiply by the integrating factor and integrate. d (xy) = x3 dx 1 xy = x4 + c 4 1 c y = x3 + . 4 x The particular and homogeneous solutions are 1 yp = x3 4 and yh = 1 . x

Note that the general solution to the dierential equation is a one-parameter family of functions. The general solution is plotted in Figure 14.4 for various values of c.

794

Exercise 14.4 (mathematica/ode/rst order/linear.nb) Solve the dierential equation 1 y y = x , x Hint, Solution

x > 0.

14.5.3

Variation of Parameters.

We could also have found the particular solution with the method of variation of parameters. Although we can solve rst order equations without this method, it will become important in the study of higher order inhomogeneous equations. We begin by assuming that the particular solution has the form yp = u(x)yh (x) where u(x) is an unknown function. We substitute this into the dierential equation. d yp + p(x)yp = f (x) dx d (uyh ) + p(x)uyh = f (x) dx u yh + u(yh + p(x)yh ) = f (x) Since yh is a homogeneous solution, yh + p(x)yh = 0. u = u= Recall that the homogeneous solution is yh = eP (x) . u= eP (x) f (x) dx f (x) yh f (x) dx yh (x)

795

14.6

Initial Conditions

In physical problems involving rst order dierential equations, the solution satises both the dierential equation and a constraint which we call the initial condition. Consider a rst order linear dierential equation subject to the initial condition y(x0 ) = y0 . The general solution is y = yp + cyh = eP (x) eP (x) f (x) dx + c eP (x) .

For the moment, we will assume that this problem is well-posed. A problem is well-posed if there is a unique solution to the dierential equation that satises the constraint(s). Recall that eP (x) f (x) dx denotes any integral of eP (x) f (x). x For convenience, we choose x0 eP () f () d. The initial condition requires that y(x0 ) = y0 = eP (x0 )

x0 x0

eP () f () d + c eP (x0 ) = c eP (x0 ) .

x

y = eP (x)

x0

eP () f () d + y0 eP (x0 )P (x) .

Example 14.6.1 Consider the problem y + (cos x)y = x, From Result 14.6.1, the solution subject to the initial condition is

x

y(0) = 2.

y=e

sin x 0

esin d + 2 e sin x .

796

14.6.1

dy + p(x)y = f (x) dx

If the coecient function p(x) and the inhomogeneous term f (x) in the rst order linear dierential equation

are continuous, then the solution is continuous and has a continuous rst derivative. To see this, we note that the solution y = eP (x) eP (x) f (x) dx + c eP (x) is continuous since the integral of a piecewise continuous function is continuous. The rst derivative of the solution can be found directly from the dierential equation. y = p(x)y + f (x) Since p(x), y, and f (x) are continuous, y is continuous. If p(x) or f (x) is only piecewise continuous, then the solution will be continuous since the integral of a piecewise continuous function is continuous. The rst derivative of the solution will be piecewise continuous. Example 14.6.2 Consider the problem y y = H(x 1), where H(x) is the Heaviside function. H(x) = 1 0 for x > 0, for x < 0. y(0) = 1,

To solve this problem, we divide it into two equations on separate domains. y1 y1 = 0, y2 y2 = 1, y1 (0) = 1, y2 (1) = y1 (1), 797 for x < 1 for x > 1

8 6 4 2 -1 1 2

Figure 14.5: Solution to y y = H(x 1). With the condition y2 (1) = y1 (1) on the second equation, we demand that the solution be continuous. The solution to the rst equation is y = ex . The solution for the second equation is

x

y = ex

1

e d + e1 ex1 = 1 + ex1 + ex .

Thus the solution over the whole domain is y= The solution is graphed in Figure 14.5. Example 14.6.3 Consider the problem, y + sign(x)y = 0, 798 y(1) = 1. ex (1 + e1 ) ex 1 for x < 1, for x > 1.

Recall that 1 sign x = 0 1 Since sign x is piecewise dened, we solve the two problems, y+ + y+ = 0, y y = 0, and dene the solution, y, to be y(x) = y+ (x), y (x), for x 0, for x 0. y+ (1) = 1, y (0) = y+ (0), for x > 0 for x < 0, for x < 0 for x = 0 for x > 0.

The initial condition for y demands that the solution be continuous. Solving the two problems for positive and negative x, we obtain e1x , e1+x , for x > 0, for x < 0.

y(x) =

This can be simplied to y(x) = e1|x| . This solution is graphed in Figure 14.6. 799

2 1

-3

-2

-1

Result 14.6.1 Existence, Uniqueness Theorem. Let p(x) and f (x) be piecewise continuous on the interval [a, b] and let x0 [a, b]. Consider the problem, dy + p(x)y = f (x), dx The general solution of the dierential equation is y = eP (x) eP (x) f (x) dx + c eP (x) . y(x0 ) = y0 .

The unique, continuous solution of the dierential equation subject to the initial condition is

x

P (x) x0

eP () f () d + y0 eP (x0 )P (x) ,

800

Exercise 14.5 (mathematica/ode/rst order/exact.nb) Find the solutions of the following dierential equations which satisfy the given initial conditions: 1. 2. dy + xy = x2n+1 , dx dy 2xy = 1, dx y(1) = 1, nZ

y(0) = 1

Hint, Solution Exercise 14.6 (mathematica/ode/rst order/exact.nb) Show that if > 0 and > 0, then for any real , every solution of dy + y(x) = ex dx satises limx+ y(x) = 0. (The case = requires special treatment.) Find the solution for = = 1 which satises y(0) = 1. Sketch this solution for 0 x < for several values of . In particular, show what happens when 0 and . Hint, Solution

14.7

Well-Posed Problems

1 y y = 0, x y(0) = 1.

The general solution is y = cx. Applying the initial condition demands that 1 = c 0, which cannot be satised. The general solution for various values of c is plotted in Figure 14.7.

801

-1

-1

Figure 14.7: Solutions to y y/x = 0. Example 14.7.2 Consider the problem 1 1 y y= , x x The general solution is y = 1 + cx. The initial condition is satised for any value of c so there are an innite number of solutions. Example 14.7.3 Consider the problem 1 y + y = 0, y(0) = 1. x c The general solution is y = x . Depending on whether c is nonzero, the solution is either singular or zero at the origin and cannot satisfy the initial condition. y(0) = 1.

802

The above problems in which there were either no solutions or an innite number of solutions are said to be ill-posed. If there is a unique solution that satises the initial condition, the problem is said to be well-posed. We should have suspected that we would run into trouble in the above examples as the initial condition was given at a singularity of the coecient function, p(x) = 1/x. Consider the problem, y + p(x)y = f (x), y(x0 ) = y0 . We assume that f (x) bounded in a neighborhood of x = x0 . The dierential equation has the general solution, y = eP (x) eP (x) f (x) dx + c eP (x) .

If the homogeneous solution, eP (x) , is nonzero and nite at x = x0 , then there is a unique value of c for which the initial condition is satised. If the homogeneous solution vanishes at x = x0 then either the initial condition cannot be satised or the initial condition is satised for all values of c. The homogeneous solution can vanish or be innite only if P (x) as x x0 . This can occur only if the coecient function, p(x), is unbounded at that point.

Result 14.7.1 If the initial condition is given where the homogeneous solution to a rst order, linear dierential equation is zero or innite then the problem may be ill-posed. This may occur only if the coecient function, p(x), is unbounded at that point.

14.8

14.8.1

Ordinary Points

where p(z), a function of a complex variable, is analytic in some domain D. The integrating factor, I(z) = exp p(z) dz ,

is an analytic function in that domain. As with the case of real variables, multiplying by the integrating factor and integrating yields the solution, w(z) = c exp We see that the solution is analytic in D. Example 14.8.1 It does not make sense to pose the equation dw + |z|w = 0. dz For the solution to exist, w and hence w (z) must be analytic. Since p(z) = |z| is not analytic anywhere in the complex plane, the equation has no solution. Any point at which p(z) is analytic is called an ordinary point of the dierential equation. Since the solution is analytic we can expand it in a Taylor series about an ordinary point. The radius of convergence of the series will be at least the distance to the nearest singularity of p(z) in the complex plane. Example 14.8.2 Consider the equation 1 dw w = 0. dz 1z The general solution is w =

c . 1z

p(z) dz .

n

an = 1, an+1

1 . 1z

which is the distance from the origin to the nearest singularity of p(z) =

We do not need to solve the dierential equation to nd the Taylor series expansion of the homogeneous solution. We could substitute a general Taylor series expansion into the dierential equation and solve for the coecients. Since we can always solve rst order equations, this method is of limited usefulness. However, when we consider higher order equations in which we cannot solve the equations exactly, this will become an important method. Example 14.8.3 Again consider the equation 1 dw w = 0. dz 1z Since we know that the solution has a Taylor series expansion about z = 0, we substitute w = dierential equation. d (1 z) dz

n=0

an z n into the

an z

n=0 n n=0

an z n = 0

nan z

n=1

n1

n=1 n

nan z

n=0

an z n = 0

(n + 1)an+1 z

n=0 n=0

nan z

n=0

an z n = 0

n=0

Now we equate powers of z to zero. For z n , the equation is (n + 1)an+1 (n + 1)an = 0, or an+1 = an . Thus we have 805

w = a0

n=0

zn,

Result 14.8.1 Consider the equation dw + p(z)w = 0. dz If p(z) is analytic at z = z0 then z0 is called an ordinary point of the dierential equation. The Taylor series expansion of the solution can be found by substituting w = an (z z0 )n n=0 into the equation and equating powers of (z z0 ). The radius of convergence of the series is at least the distance to the nearest singularity of p(z) in the complex plane.

Exercise 14.7 Find the Taylor series expansion about the origin of the solution to dw 1 + w=0 dz 1z with the substitution w = 1 nearest singularity of 1z ? Hint, Solution

n=0

an z n . What is the radius of convergence of the series? What is the distance to the

806

14.8.2

If the coecient function p(z) has a simple pole at z = z0 then z0 is a regular singular point of the rst order dierential equation. Example 14.8.4 Consider the equation dw + w = 0, dz z = 0.

This equation has a regular singular point at z = 0. The solution is w = cz . Depending on the value of , the solution can have three dierent kinds of behavior.

is a positive integer The solution has a pole at the origin. w is analytic in the annulus, 0 < |z|.

is not an integer. w has a branch point at z = 0. The solution is analytic in the cut annulus 0 < |z| < , 0 < arg z < 0 + 2.

where p(z) has a simple pole at the origin and is analytic in the annulus, 0 < |z| < r, for some positive r. Recall that the solution is w = c exp = c exp p(z) dz

b0 b0 + p(z) dz z z zp(z) b0 = c exp b0 log z dz z zp(z) b0 = cz b0 exp dz z The exponential factor has a removable singularity at z = 0 and is analytic in |z| < r. We consider the following cases for the z b0 factor: b0 is a negative integer. Since z b0 is analytic at the origin, the solution to the dierential equation is analytic in the circle |z| < r. b0 is a positive integer. The solution has a pole of order b0 at the origin and is analytic in the annulus 0 < |z| < r. b0 is not an integer. The solution has a branch point at the origin and thus is not single-valued. The solution is analytic in the cut annulus 0 < |z| < r, 0 < arg z < 0 + 2. Since the exponential factor has a convergent Taylor series in |z| < r, the solution can be expanded in a series of the form w = z b0

n=0

an z n ,

z0

w = (z z0 )b0

n=0

an (z z0 )n ,

zz0

808

Series of this form are known as Frobenius series. Since we can write the solution as w = c(z z0 )b0 exp p(z) b0 z z0 dz ,

we see that the Frobenius expansion of the solution will have a radius of convergence at least the distance to the nearest singularity of p(z).

Result 14.8.2 Consider the equation, dw + p(z)w = 0, dz where p(z) has a simple pole at z = z0 , p(z) is analytic in some annulus, 0 < |z z0 | < r, and limzz0 (z z0 )p(z) = . The solution to the dierential equation has a Frobenius series expansion of the form

w = (z z0 )

n=0

an (z z0 )n ,

a0 = 0.

The radius of convergence of the expansion will be at least the distance to the nearest singularity of p(z).

Example 14.8.5 We will nd the rst two nonzero terms in the series solution about z = 0 of the dierential equation, dw 1 + w = 0. dz sin z First we note that the coecient function has a simple pole at z = 0 and z 1 = lim = 1. z0 sin z z0 cos z lim 809

w=z

1 n=0

an z n ,

a0 = 0.

The nearest singularities of 1/ sin z in the complex plane are at z = . Thus the radius of convergence of the series will be at least . Substituting the rst three terms of the expansion into the dierential equation, 1 d (a0 z 1 + a1 + a2 z) + (a0 z 1 + a1 + a2 z) = O(z). dz sin z Recall that the Taylor expansion of sin z is sin z = z 1 z 3 + O(z 5 ). 6 z3 + O(z 5 ) (a0 z 2 + a2 ) + (a0 z 1 + a1 + a2 z) = O(z 2 ) z 6 a0 a0 z 1 + a2 + z + a0 z 1 + a1 + a2 z = O(z 2 ) 6 a0 z = O(z 2 ) a1 + 2a2 + 6 a0 is arbitrary. Equating powers of z, z0 : z1 : Thus the solution has the expansion, w = a0 z 1 z + O(z 2 ). 12 a1 = 0. a0 = 0. 2a2 + 6

In Figure 14.8 the exact solution is plotted in a solid line and the two term approximation is plotted in a dashed line. The two term approximation is very good near the point x = 0. 810

4 2 2 -2 -4

Figure 14.8: Plot of the exact solution and the two term approximation. Example 14.8.6 Find the rst two nonzero terms in the series expansion about z = 0 of the solution to cos z w i w = 0. z Since cos z has a simple pole at z = 0 and limz0 i cos z = i we see that the Frobenius series will have the form z

w=z Recall that cos z has the Taylor expansion equation yields

i n=0

an z n ,

a0 = 0.

iz i1

n=0

an z n + z i

n=0

nan z n1

i

n=0

(1)n z 2n (2n)!

zi

n=0

an z n

=0

(n + i)an z n i

n=0 n=0

(1) z (2n)!

n 2n

an z n

n=0

= 0.

811

Equating powers of z, z 0 : ia0 ia0 = 0 a0 is arbitrary 1 z : (1 + i)a1 ia1 = 0 a1 = 0 i i z 2 : (2 + i)a2 ia2 + a0 = 0 a2 = a0 . 2 4 Thus the solution is i w = a0 z i 1 z 2 + O(z 3 ) . 4

14.8.3

If a point is not an ordinary point or a regular singular point then it is called an irregular singular point. The following equations have irregular singular points at the origin. w + zw = 0 w z 2 w = 0 w + exp(1/z)w = 0 Example 14.8.7 Consider the dierential equation dw + z w = 0, = 0, = 1, 0, 1, 2, . . . dz This equation has an irregular singular point at the origin. Solving this equation, d exp z dz w = 0 dz w = c exp +1 z +1

=c

n=0

(1)n n!

+1

z (+1)n .

812

If is not an integer, then the solution has a branch point at the origin. If is an integer, < 1, then the solution has an essential singularity at the origin. The solution cannot be expanded in a Frobenius series, w = z an z n . n=0

Although we will not show it, this result holds for any irregular singular point of the dierential equation. We cannot approximate the solution near an irregular singular point using a Frobenius expansion.

Now would be a good time to summarize what we have discovered about solutions of rst order dierential equations in the complex plane. 813

Result 14.8.3 Consider the rst order dierential equation dw + p(z)w = 0. dz Ordinary Points If p(z) is analytic at z = z0 then z0 is an ordinary point of the dierential equation. The solution can be expanded in the Taylor series w = an (z z0 )n . n=0 The radius of convergence of the series is at least the distance to the nearest singularity of p(z) in the complex plane. Regular Singular Points If p(z) has a simple pole at z = z0 and is analytic in some annulus 0 < |z z0 | < r then z0 is a regular singular point of the dierential equation. The solution at z0 will either be analytic, have a pole, or have a branch point. The solution can be expanded in the Frobenius series w = (z z0 ) an (z z0 )n where a0 = 0 n=0 and = limzz0 (z z0 )p(z). The radius of convergence of the Frobenius series will be at least the distance to the nearest singularity of p(z). Irregular Singular Points If the point z = z0 is not an ordinary point or a regular singular point, then it is an irregular singular point of the dierential equation. The solution cannot be expanded in a Frobenius series about that point.

14.8.4

Now we consider the behavior of rst order linear dierential equations at the point at innity. Recall from complex variables that the complex plane together with the point at innity is called the extended complex plane. To study the 1 behavior of a function f (z) at innity, we make the transformation z = and study the behavior of f (1/) at = 0. 814

Example 14.8.8 Lets examine the behavior of sin z at innity. We make the substitution z = 1/ and nd the Laurent expansion about = 0. (1)n sin(1/) = (2n + 1)! (2n+1) n=0 Since sin(1/) has an essential singularity at = 0, sin z has an essential singularity at innity.

We use the same approach if we want to examine the behavior at innity of a dierential equation. Starting with the rst order dierential equation, dw + p(z)w = 0, dz we make the substitution d 1 d z= , = 2 , w(z) = u() dz d to obtain du + p(1/)u = 0 2 d du p(1/) u = 0. d 2

Result 14.8.4 The behavior at innity of dw + p(z)w = 0 dz is the same as the behavior at = 0 of du p(1/) u = 0. d 2

815

Example 14.8.9 We classify the singular points of the equation dw 1 + 2 w = 0. dz z +9 We factor the denominator of the fraction to see that z = 3 and z = 3 are regular singular points. 1 dw + w=0 dz (z 3)(z + 3) We make the transformation z = 1/ to examine the point at innity. 1 du 1 2 u=0 d (1/)2 + 9 1 du 2 u=0 d 9 + 1 Since the equation for u has a ordinary point at = 0, z = is a ordinary point of the equation for w.

816

14.9

Additional Exercises

Exact Equations

Exercise 14.8 (mathematica/ode/rst order/exact.nb) Find the general solution y = y(x) of the equations 1. x2 + xy + y 2 dy = , dx x2

2. (4y 3x) dx + (y 2x) dy = 0. Hint, Solution Exercise 14.9 (mathematica/ode/rst order/exact.nb) Determine whether or not the following equations can be made exact. If so nd the corresponding general solution. 1. (3x2 2xy + 2) dx + (6y 2 x2 + 3) dy = 0 2. Hint, Solution Exercise 14.10 (mathematica/ode/rst order/exact.nb) Find the solutions of the following dierential equations which satisfy the given initial condition. In each case determine the interval in which the solution is dened. 1. dy = (1 2x)y 2 , dx y(0) = 1/6. y(0) = 1. dy ax + by = dx bx + cy

Exercise 14.11 Are the following equations exact? If so, solve them. 1. (4y x)y (9x2 + y 1) = 0 2. (2x 2y)y + (2x + 4y) = 0. Hint, Solution Exercise 14.12 (mathematica/ode/rst order/exact.nb) Find all functions f (t) such that the dierential equation y 2 sin t + yf (t) is exact. Solve the dierential equation for these f (t). Hint, Solution dy =0 dt (14.7)

Exercise 14.13 (mathematica/ode/rst order/linear.nb) Solve the dierential equation y y + = 0. sin x Hint, Solution

Exercise 14.14 Find the solutions of dy + Ay = 1 + t2 , dt which are bounded at t = 0. Consider all (real) values of A. Hint, Solution t 818 t>0

Exercise 14.15 Classify the singular points of the following rst order dierential equations, (include the point at innity). 1. w + 2. w +

sin z w z 1 w z3

=0 =0

3. w + z 1/2 w = 0 Hint, Solution Exercise 14.16 Consider the equation w + z 2 w = 0. The point z = 0 is an irregular singular point of the dierential equation. Thus we know that we cannot expand the solution about z = 0 in a Frobenius series. Try substituting the series solution

w=z

n=0

an z n ,

a0 = 0

819

14.10

Hint 14.1

Hints

1. 2.

d dx

ln |u| =

1 u

d c u dx

= uc1 u

Hint 14.2 Hint 14.3 The equation is homogeneous. Make the change of variables u = y/t. Hint 14.4 Make sure you consider the case = 0. Hint 14.5 Hint 14.6 Hint 14.7 The radius of convergence of the series and the distance to the nearest singularity of

1 1z

Exact Equations

Hint 14.8 1. 2. 820

Hint 14.9 1. The equation is exact. Determine the primitive u by solving the equations ux = P , uy = Q. 2. The equation can be made exact. Hint 14.10 1. This equation is separable. Integrate to get the general solution. Apply the initial condition to determine the constant of integration. 2. Ditto. You will have to numerically solve an equation to determine where the solution is dened. Hint 14.11 Hint 14.12

Hint 14.13 Look in the appendix for the integral of csc x.

Hint 14.14

Hint 14.15

821

Hint 14.16 Try to nd the value of by substituting the series into the dierential equation and equating powers of z.

822

14.11

Solutions

Solution 14.1

f (x) dx+c f (x) dx

1/(+1)

y(x) =

( + 1)

f (x) dx + a

823

3. y tan x +y = cos x cos x cos x d y = cos x dx cos x y = sin x + c cos x y(x) = sin x cos x + c cos x Solution 14.2 We consider the homogeneous equation, dy = 0. dx That is, both P and Q are homogeneous of degree n. We hypothesize that multiplying by P (x, y) + Q(x, y) (x, y) = 1 xP (x, y) + yQ(x, y)

will make the equation exact. To prove this we use the result that M (x, y) + N (x, y) is exact if and only if My = Nx . My = P y xP + yQ Py (xP + yQ) P (xPy + Q + yQy ) = (xP + yQ)2 824 dy =0 dx

Nx =

M y = Nx Py (xP + yQ) P (xPy + Q + yQy ) = Qx (xP + yQ) Q(P + xPx + yQx ) yPy Q yP Qy = xP Qx xPx Q xPx Q + yPy Q = xP Qx + yP Qy (xPx + yPy )Q = P (xQx + yQy ) With Eulers theorem, this reduces to an identity. nP Q = P nQ Thus the equation is exact. (x, y) is an integrating factor for the homogeneous equation. Solution 14.3 We note that this is a homogeneous dierential equation. The coecient of dy/dt and the inhomogeneity are homogeneous of degree zero. dy y y 2 =2 + . dt t t We make the change of variables u = y/t to obtain a separable equation. tu + u = 2u + u2 u 1 = 2+u u t 825

Now we integrate to solve for u. u 1 = u(u + 1) t u u 1 = u u+1 t ln |u| ln |u + 1| = ln |t| + c u ln = ln |ct| u+1 u = ct u+1 u = ct u+1 ct u= 1 ct t u= ct t2 y= ct Solution 14.4 We consider 1 y y = x , x First we nd the integrating factor. I(x) = exp 1 dx x 826 = exp ( ln x) = 1 . x x > 0.

We multiply by the integrating factor and integrate. 1 1 y 2 y = x1 x x d 1 y = x1 dx x 1 y = x1 dx + c x y=x y= Solution 14.5 1. y + xy = x2n+1 , We nd the integrating factor. I(x) = e

x dx x+1

x1 dx + cx for = 0, for = 0.

+ cx x ln x + cx

y(1) = 1, = ex

2 /2

nZ

We multiply by the integrating factor and integrate. Since the initial condition is given at x = 1, we will take the lower bound of integration to be that point. d 2 2 ex /2 y = x2n+1 ex /2 dx y = ex

2 /2

2n+1 e

1

2 /2

d + c ex

2 /2

2 /2

2n+1 e

1

2 /2

d + e(1x

2 )/2

827

If n 0 then we can use integration by parts to write the integral as a sum of terms. If n < 0 we can write the integral in terms of the exponential integral function. However, the integral form above is as nice as any other and we leave the answer in that form. 2. dy 2xy(x) = 1, dx y(0) = 1.

We determine the integrating factor and then integrate the equation. I(x) = e 2x dx = ex d 2 2 ex y = ex dx y = ex

2 2

e d + c ex

0

2

1+

0

e d

2

x 0

e d. erf(x) 2

1+

828

Solution 14.6 We determine the integrating factor and then integrate the equation. I(x) = e dx = ex d x (e y) = e()x dx y = ex First consider the case = . y = ex y= Clearly the solution vanishes as x . Next consider = . y = ex x + c ex y = (c + x) ex We use LHospitals rule to show that the solution vanishes as x . lim c + x = lim =0 x x ex e for = 1, for = 1. e()x + c ex e()x dx + c ex

ex +c ex

1 1

829

8

Figure 14.9: The Solution for a Range of

12

16

y=

1 1

In Figure 14.9 the solution is plotted for = 1/16, 1/8, . . . , 16. Consider the solution in the limit as 0. 1 ex +( 2) ex 0 1 = 2 ex 830

1 1

This behavior is shown in Figure 14.10. The rst graph plots the solutions for = 1/128, 1/64, . . . , 1. The second graph plots the solutions for = 1, 2, . . . , 128.

831

n=0

dw dz

+

n

1 w 1z

= 0.

1 an z + 1z n=0

an z n = 0

n=0

(1 z)

n=1

nan z n1 +

n=0 n n

an z n = 0

(n + 1)an+1 z

n=0 n=0

nan z +

n=0

an z n = 0

n=0

a0 is arbitrary. We can compute the rest of the coecients from the recurrence relation. 1 a0 = a0 1 0 a2 = a1 = 0 2 a1 = We see that the coecients are zero for n 2. Thus the Taylor series expansion, (and the exact solution), is w = a0 (1 z).

1 The radius of convergence of the series in innite. The nearest singularity of 1z is at z = 1. Thus we see the radius of convergence can be greater than the distance to the nearest singularity of the coecient function, p(z).

832

Exact Equations

Solution 14.8 1. x2 + xy + y 2 dy = dx x2 Since the right side is a homogeneous function of order zero, this is a homogeneous dierential equation. We make the change of variables u = y/x and then solve the dierential equation for u.

Since the coecients are homogeneous functions of order one, this is a homogeneous dierential equation. We 833

make the change of variables u = y/x and then solve the dierential equation for u. y y 2 dy = 0 4 3 dx + x x (4u 3) dx + (u 2)(u dx + x du) = 0 (u2 + 2u 3) dx + x(u 2) du = 0 dx u2 + du = 0 x (u + 3)(u 1) 5/4 dx 1/4 + du = 0 x u+3 u1 1 5 ln(x) + ln(u + 3) ln(u 1) = c 4 4 x4 (u + 3)5 =c u1 x4 (y/x + 3)5 =c y/x 1 (y + 3x)5 =c yx Solution 14.9 1. (3x2 2xy + 2) dx + (6y 2 x2 + 3) dy = 0 We check if this form of the equation, P dx + Q dy = 0, is exact. Py = 2x, Qx = 2x

Since Py = Qx , the equation is exact. Now we nd the primitive u(x, y) which satises du = (3x2 2xy + 2) dx + (6y 2 x2 + 3) dy. 834

We integrate the rst equation of 14.8 to determine u up to a function of integration. ux = 3x2 2xy + 2 u = x3 x2 y + 2x + f (y) We substitute this into the second equation of 14.8 to determine the function of integration up to an additive constant. x2 + f (y) = 6y 2 x2 + 3 f (y) = 6y 2 + 3 f (y) = 2y 3 + 3y The solution of the dierential equation is determined by the implicit equation u = c. x3 x2 y + 2x + 2y 3 + 3y = c 2. dy ax + by = dx bx + cy (ax + by) dx + (bx + cy) dy = 0 We check if this form of the equation, P dx + Q dy = 0, is exact. Py = b, Qx = b

Since Py = Qx , the equation is exact. Now we nd the primitive u(x, y) which satises du = (ax + by) dx + (bx + cy) dy 835

The primitive satises the partial dierential equations ux = P, uy = Q. (14.9) We integrate the rst equation of 14.9 to determine u up to a function of integration. ux = ax + by 1 u = ax2 + bxy + f (y) 2 We substitute this into the second equation of 14.9 to determine the function of integration up to an additive constant. bx + f (y) = bx + cy f (y) = cy 1 f (y) = cy 2 2 The solution of the dierential equation is determined by the implicit equation u = d. ax2 + 2bxy + cy 2 = d Solution 14.10 Note that since these equations are nonlinear, we cannot predict where the solutions will be dened from the equation alone. 1. This equation is separable. We integrate to get the general solution. dy = (1 2x)y 2 dx dy = (1 2x) dx y2 1 = x x2 + c y 1 y= 2 x xc 836

Now we apply the initial condition. 1 1 = c 6 1 y= 2 x x6 1 y= (x + 2)(x 3) y(0) = The solution is dened on the interval (2 . . . 3). 2. This equation is separable. We integrate to get the general solution. x dx + y ex dy = 0 x ex dx + y dy = 0 1 (x 1) ex + y 2 = c 2 y = 2(c + (1 x) ex ) We apply the initial condition to determine the constant of integration. y(0) = 2(c + 1) = 1 1 c= 2 2(1 x) ex 1

y=

The function 2(1 x) ex 1 is plotted in Figure 14.11. We see that the argument of the square root in the solution is non-negative only on an interval about the origin. Because 2(1 x) ex 1 == 0 is a mixed algebraic / transcendental equation, we cannot solve it analytically. The solution of the dierential equation is dened on the interval (1.67835 . . . 0.768039). 837

1 -5 -4 -3 -2 -1 -1 -2 -3 1

Figure 14.11: The function 2(1 x) ex 1. Solution 14.11 1. We consider the dierential equation, (4y x)y (9x2 + y 1) = 0. 1 y 9x2 = 1 y Qx = (4y x) = 1 x This equation is exact. It is simplest to solve the equation by rearranging terms to form exact derivatives. Py = 4yy xy y + 1 9x2 = 0 d 2y 2 xy + 1 9x2 = 0 dx 2y 2 xy + x 3x3 + c = 0 y= 2. We consider the dierential equation, (2x 2y)y + (2x + 4y) = 0. 838 1 x 4 x2 8(c + x 3x3 )

(2x + 4y) = 4 y Qx = (2x 2y) = 2 x Since Py = Qx , this is not an exact equation. Py = Solution 14.12 Recall that the dierential equation P (x, y) + Q(x, y)y = 0 is exact if and only if Py = Qx . For Equation 14.7, this criterion is 2y sin t = yf (t) f (t) = 2 sin t f (t) = 2(a cos t). In this case, the dierential equation is y 2 sin t + 2yy (a cos t) = 0. We can integrate this exact equation by inspection. d 2 y (a cos t) = 0 dt y 2 (a cos t) = c c y = a cos t

Solution 14.13 Consider the dierential equation y +

y = 0. sin x 839

y = ce

1/ sin x dx

Solution 14.14 First we write the dierential equation in the standard form.

dy A 1 + y = + t, dt t t

t>0

A/t dt

I(t) = e

= eA ln t = tA

840

We multiply the dierential equation by the integrating factor and integrate. dy A 1 + y = +t dt t t d A t y = tA1 + tA+1 dt A tA+2 t A = 0, 2 A + A+2 + c, A 1 2 t y = ln t + 2 t + c, A=0 1 2 t + ln t + c, A = 2 2 2 1 t A + A+2 + ctA , A = 2 y = ln t + 1 t2 + c, A=0 1 22 2 2 + t ln t + ct , A = 2 For positive A, the solution is bounded at the origin only for c = 0. For A = 0, there are no bounded solutions. For negative A, the solution is bounded there for any value of c and thus we have a one-parameter family of solutions. In summary, the solutions which are bounded at the origin are: 1 t2 A + A+2 , A>0 1 t2 A y = A + A+2 + ct , A < 0, A = 2 1 2 + t2 ln t + ct2 , A = 2

Solution 14.15 1. Consider the equation w + sin z w = 0. The point z = 0 is the only point we need to examine in the nite plane. z Since sin z has a removable singularity at z = 0, there are no singular points in the nite plane. The substitution z 1 z = yields the equation sin(1/) u u = 0. 841

Since sin(1/) has an essential singularity at = 0, the point at innity is an irregular singular point of the original dierential equation.

1 1 2. Consider the equation w + z3 w = 0. Since z3 has a simple pole at z = 3, the dierential equation has a regular singular point there. Making the substitution z = 1/, w(z) = u()

1 u=0 2 (1/ 3) 1 u u = 0. (1 3)

Since this equation has a simple pole at = 0, the original equation has a regular singular point at innity. 3. Consider the equation w + z 1/2 w = 0. There is an irregular singular point at z = 0. With the substitution z = 1/, w(z) = u(), 1/2 u=0 2 u 5/2 u = 0. u We see that the point at innity is also an irregular singular point of the original dierential equation. Solution 14.16 We start with the equation w + z 2 w = 0. Substituting w = z

n=0

an z n , a0 = 0 yields d dz

n=0

an z

+z z

2 n=0

an z n = 0

z 1

n=0

an z n + z

n=1

nan z n1 + z

n=0

an z n2 = 0

842

The lowest power of z in the expansion is z 2 . The coecient of this term is a0 . Equating powers of z demands that a0 = 0 which contradicts our initial assumption that it was nonzero. Thus we cannot nd a such that the solution can be expanded in the form,

w=z

n=0

an z n ,

a0 = 0.

843

14.12

Quiz

Problem 14.1 What is the general solution of a rst order dierential equation? Solution Problem 14.2 Write a statement about the functions P and Q to make the following statement correct. The rst order dierential equation dy P (x, y) + Q(x, y) =0 dx is exact if and only if . It is separable if . Solution Problem 14.3 Derive the general solution of dy + p(x)y = f (x). dx Solution Problem 14.4 Solve y = y y 2 . Solution

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14.13

Quiz Solutions

Solution 14.1 The general solution of a rst order dierential equation is a one-parameter family of functions which satises the equation. Solution 14.2 The rst order dierential equation P (x, y) + Q(x, y) dy =0 dx

is exact if and only if Py = Qx . It is separable if P = P (x) and Q = Q(y). Solution 14.3 dy + p(x)y = f (x) dx We multiply by the integrating factor (x) = exp(P (x)) = exp p(x) dx , and integrate.

dy P (x) e +p(x)y eP (x) = eP (x) f (x) dx d y eP (x) = eP (x) f (x) dx y eP (x) = y = eP (x) eP (x) f (x) dx + c eP (x) f (x) dx + c eP (x)

845

Solution 14.4 y = y y 2 is separable. y = y y2 y =1 y y2 y y =1 y y1 ln y ln(y 1) = x + c We do algebraic simplications and rename the constant of integration to write the solution in a nice form. y = c ex y1 y = (y 1)c ex c ex y= 1 c ex ex y= x e c 1 y= 1 c ex

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We all agree that your theory is crazy, but is it crazy enough? - Niels Bohr

15.1

Introduction

In this chapter we consider rst order linear systems of dierential equations. That is, we consider equations of the form, x (t) = Ax(t) + f (t), a11 a12 x1 (t) a21 a22 . x(t) = . , A= . . . . . . . xn (t) an1 an2 847

Initially we will consider the homogeneous problem, x (t) = Ax(t). (Later we will nd particular solutions with variation of parameters.) The best way to solve these equations is through the use of the matrix exponential. Unfortunately, using the matrix exponential requires knowledge of the Jordan canonical form and matrix functions. Fortunately, we can solve a certain class of problems using only the concepts of eigenvalues and eigenvectors of a matrix. We present this simple method in the next section. In the following section we will take a detour into matrix theory to cover Jordan canonical form and its applications. Then we will be able to solve the general case.

15.2

If you have forgotten what eigenvalues and eigenvectors are and how to compute them, go nd a book on linear algebra and spend a few minutes re-aquainting yourself with the rudimentary material. Recall that the single dierential equation x (t) = Ax has the general solution x = c eAt . Maybe the system of dierential equations x (t) = Ax(t) (15.1) has similiar solutions. Perhaps it has a solution of the form x(t) = et for some constant vector and some value . Lets substitute this into the dierential equation and see what happens. x (t) = Ax(t) et = A et A = We see that if is an eigenvalue of A with eigenvector then x(t) = et satises the dierential equation. Since the dierential equation is linear, c et is a solution. Suppose that the n n matrix A has the eigenvalues {k } with a complete set of linearly independent eigenvectors { k }. Then each of k ek t is a homogeneous solution of Equation 15.1. We note that each of these solutions is linearly 848

independent. Without any kind of justication I will tell you that the general solution of the dierential equation is a linear combination of these n linearly independent solutions.

Result 15.2.1 Suppose that the n n matrix A has the eigenvalues {k } with a complete set of linearly independent eigenvectors { k }. The system of dierential equations, x (t) = Ax(t), has the general solution, x(t) =

k=1 n

c k k e k t

Example 15.2.1 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . x = Ax 2 1 x, 5 4 x(0) = x0 1 3

The matrix has the distinct eigenvalues 1 = 1, 2 = 3. The corresponding eigenvectors are x1 = 1 , 1 x2 = 1 . 5

We apply the initial condition to determine the constants. 1 1 1 5 1 c1 = , 2 The solution subject to the initial condition is x= For large t, the solution looks like x 1 2 1 3t e . 5 1 2 1 t 1 e + 1 2 1 3t e 5 c1 c2 1 3 1 c2 = 2 =

Both coordinates tend to innity. Figure 15.1 shows some homogeneous solutions in the phase plane. Example 15.2.2 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . 1 1 2 2 x = Ax 0 2 2 x, x(0) = x0 0 1 1 3 1 The matrix has the distinct eigenvalues 1 = 1, 2 = 2, 3 = 3. The corresponding eigenvectors are 0 1 2 2 , x2 = 1 , x3 = 2 . x1 = 1 0 1 850

10 7.5 5 2.5 -10 -7.5 -5 -2.5 -2.5 -5 -7.5 -10 2.5 5 7.5 10

We apply the initial condition to determine the constants. 0 1 2 c1 2 2 1 2 c2 = 0 1 0 1 c3 1 c1 = 1, The solution subject to the initial condition is 0 1 2 et +2 1 e2t . x= 1 0 As t , all coordinates tend to innity. Exercise 15.1 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . x = Ax Hint, Solution Exercise 15.2 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . 3 0 2 1 1 1 0 x, x(0) = x0 0 x = Ax 2 1 0 0 Hint, Solution 852 1 5 x, 1 3 x(0) = x0 1 1 c2 = 2, c3 = 0

Exercise 15.3 Use the matrix form of the method of variation of parameters to nd the general solution of dx = dt Hint, Solution 4 2 t3 x+ , 8 4 t2 t > 0.

15.3

Functions of Square Matrices. Consider a function f (x) with a Taylor series. f (x) =

n=0

f (n) (0) n x n!

We can dene the function to take square matrices as arguments. The function of the square matrix A is dened in terms of the Taylor series. f (n) (0) n f (A) = A n! n=0 (Note that this denition is usually not the most convenient method for computing a function of a matrix. Use the Jordan canonical form for that.) Eigenvalues and Eigenvectors. Consider a square matrix A. A nonzero vector x is an eigenvector of the matrix with eigenvalue if Ax = x. Note that we can write this equation as (A I)x = 0. 853

This equation has solutions for nonzero x if and only if A I is singular, (det(A I) = 0). We dene the characteristic polynomial of the matrix () as this determinant. () = det(A I) The roots of the characteristic polynomial are the eigenvalues of the matrix. The eigenvectors of distinct eigenvalues are linearly independent. Thus if a matrix has distinct eigenvalues, the eigenvectors form a basis. If is a root of () of multiplicity m then there are up to m linearly independent eigenvectors corresponding to that eigenvalue. That is, it has from 1 to m eigenvectors. Diagonalizing Matrices. Consider an nn matrix A that has a complete set of n linearly independent eigenvectors. A may or may not have distinct eigenvalues. Consider the matrix S with eigenvectors as columns. S = x1 x2 xn A is diagonalized by the similarity transformation: = S1 AS. is a diagonal matrix with the eigenvalues of A as the diagonal elements. Furthermore, the k th diagonal element is k , the eigenvalue corresponding to the the eigenvector, xk . Generalized Eigenvectors. A vector xk is a generalized eigenvector of rank k if (A I)k xk = 0 but (A I)k1 xk = 0. Eigenvectors are generalized eigenvectors of rank 1. An nn matrix has n linearly independent generalized eigenvectors. A chain of generalized eigenvectors generated by the rank m generalized eigenvector xm is the set: {x1 , x2 , . . . , xm }, where xk = (A I)xk+1 , for k = m 1, . . . , 1. 854

Computing Generalized Eigenvectors. Let be an eigenvalue of multiplicity m. Let n be the smallest integer such that rank (nullspace ((A I)n )) = m. Let Nk denote the number of eigenvalues of rank k. These have the value: Nk = rank nullspace (A I)k rank nullspace (A I)k1 .

One can compute the generalized eigenvectors of a matrix by looping through the following three steps until all the the Nk are zero: 1. Select the largest k for which Nk is positive. Find a generalized eigenvector xk of rank k which is linearly independent of all the generalized eigenvectors found thus far. 2. From xk generate the chain of eigenvectors {x1 , x2 , . . . , xk }. Add this chain to the known generalized eigenvectors. 3. Decrement each positive Nk by one. Example 15.3.1 Consider the matrix 1 1 1 A = 2 1 1 . 3 2 4 The characteristic polynomial of the matrix is () = 1 1 1 2 1 1 3 2 4

Thus we see that = 2 is an eigenvalue of multiplicity 3. A 2I is 1 1 1 A 2I = 2 1 1 3 2 2 The rank of the nullspace space of A 2I is less than 3. 0 0 0 1 (A 2I)2 = 1 1 1 1 1 The rank of nullspace((A 2I)2 ) is less than 3 as well, so we have to take one more step. 0 0 0 (A 2I)3 = 0 0 0 0 0 0 The rank of nullspace((A 2I)3 ) is 3. Thus there are generalized eigenvectors of ranks 1, 2 and 3. The generalized eigenvector of rank 3 satises: (A 2I)3 x3 = 0 0 0 0 0 0 0 x3 = 0 0 0 0 We choose the solution 1 0 . x3 = 0 856

Now to compute the chain generated by x3 . 1 x2 = (A 2I)x3 = 2 3 0 x1 = (A 2I)x2 = 1 1 Thus a set of generalized eigenvectors corresponding to the eigenvalue = 2 are 0 x1 = 1 , 1 1 x2 = 2 , 3 1 x3 = 0 . 0

which has the constant, , on the diagonal and ones on the rst .. . .. .. . . .. . 0 0 0 1 857 0 0 0 0 . .. . . . 1 0 0 0

Jordan Canonical Form. A matrix J is in Jordan canonical form if all the elements are zero except for Jordan blocks Jk along the diagonal. J1 0 0 0 . 0 J2 . . 0 0 . . J = . ... ... ... . . . .. 0 0 . Jn1 0 0 0 0 Jn The Jordan canonical form of a matrix is obtained with the similarity transformation: J = S1 AS, where S is the matrix of the generalized eigenvectors of A and the generalized eigenvectors are grouped in chains. Example 15.3.2 Again consider the matrix 1 1 1 A = 2 1 1 . 3 2 4 Since = 2 is an eigenvalue of multiplicity 3, the Jordan canonical form of the matrix is 2 1 0 J = 0 2 1 . 0 0 2 In Example 15.3.1 we found the generalized eigenvectors of columns: 0 1 S= 1 A. We dene the matrix with generalized eigenvectors as 1 1 2 0 . 3 0

858

Functions of Matrices in Jordan Canonical Form. The function of an n n Jordan block is the uppertriangular matrix: (n2) () () f () f (n1) () f () f 1! f (n2)! 2! (n1)! (n3) () () f (n2) () 0 f () f 1! f (n3)! (n2)! (n4) () . f (n3) () 0 f () . . f (n4)! (n3)! f (Jk ) = 0 . . . .. .. .. . . . . . . . . . .. f () 0 . 0 0 f () 1! 0 0 0 0 f () The function of a matrix in Jordan canonical form is f (J1 ) 0 0 f (J2 ) . .. f (J) = . . . 0 0 0 0

0 0 .. . 0 0 . .. .. . . . . .. . f (Jn1 ) 0 0 f (Jn )

859

The Jordan canonical form of a matrix satises: f (J) = S1 f (A)S, where S is the matrix of the generalized eigenvectors of A. This gives us a convenient method for computing functions of matrices. Example 15.3.3 Consider the matrix exponential function 1 2 A= 3 eA for our old friend: 1 1 1 1 . 2 4

In Example 15.3.2 we showed that the Jordan canonical form of the matrix is 2 1 0 J = 0 2 1 . 0 0 2 Since all the derivatives of e are just e , it is especially easy to compute eJ . 2 2 2 e e e /2 J e = 0 e2 e2 e2 0 0 We nd eA with a similarity transformation of eJ . We use the matrix of generalized eigenvectors found in Example 15.3.2. eA = S eJ S1 2 2 2 e e e /2 0 1 1 0 3 2 eA = 1 2 0 0 e2 e2 0 1 1 e2 1 1 1 1 3 0 0 0 0 2 2 e2 A 3 1 1 e = 2 5 3 5

860

15.4

x (t) = Ax(t)

The homogeneous dierential equation has the solution x(t) = eAt c where c is a vector of constants. The solution subject to the initial condition, x(t0 ) = x0 is x(t) = eA(tt0 ) x0 . The homogeneous dierential equation 1 x (t) = Ax(t) t has the solution x(t) = tA c eA Log t c, where c is a vector of constants. The solution subject to the initial condition, x(t0 ) = x0 is x(t) = The inhomogeneous problem x (t) = Ax(t) + f (t), has the solution x(t) = eA(tt0 ) x0 + eAt

t0

t t0

x0 eA Log(t/t0 ) x0 .

x(t0 ) = x0

t

eA f ( ) d.

The general solution of the system of dierential equations is x(t) = eAt c. In Example 15.3.3 we found eA . At is just a constant times A. The eigenvalues of At are {k t} where {k } are the eigenvalues of A. The generalized eigenvectors of At are the same as those of A. Consider eJt . The derivatives of f () = et are f () = t et and f () = t2 et . Thus we have 2t e t e2t t2 e2t /2 eJt = 0 e2t t e2t e2t 0 0 1 t t2 /2 eJt = 0 1 t e2t 0 0 1 We nd eAt with a similarity transformation. eAt = S eJt S1 0 1 1 1 t t2 /2 0 3 2 eAt = 1 2 0 0 1 t e2t 0 1 1 1 3 0 0 0 1 1 1 1 1t t t eAt = 2t t2 /2 1 t + t2 /2 t + t2 /2 e2t 2 2 3t + t /2 2t t /2 1 + 2t t2 /2 The solution of the system of dierential equations is 1t t t x(t) = c1 2t t2 /2 + c2 1 t + t2 /2 + c3 t + t2 /2 e2t 3t + t2 /2 2t t2 /2 1 + 2t t2 /2

862

The solution is x(t) = tA c. Note that A is almost in Jordan canonical form. It has a one on the sub-diagonal instead of the super-diagonal. It is clear that a function of A is dened f (A) = f (1) 0 . f (1) f (1)

The function f () = t has the derivative f () = t log t. Thus the solution of the system is x(t) = t 0 t log t t c1 c2 = c1 t 0 + c2 t log t t

Example 15.4.3 Consider an inhomogeneous system of dierential equations. dx = Ax + f (t) dt The general solution is x(t) = eAt c + eAt eAt f (t) dt. 4 2 t3 x+ , 8 4 t2 t > 0.

= 0 is an eigenvalue of multiplicity 2. Thus the Jordan canonical form of the matrix is J= 0 1 . 0 0 863

Since rank(nullspace(A 0I)) = 1 there is only one eigenvector. A generalized eigenvector of rank 2 satises (A 0I)2 x2 = 0 0 0 x =0 0 0 2 We choose x2 = Now we generate the chain from x2 . x1 = (A 0I)x2 = We dene the matrix of generalized eigenvectors S. S= The derivative of f () = et is f () = t et . Thus eJt = 1 t 0 1 4 1 8 0 4 8 1 0

The homogeneous solution of the dierential equation system is xh = eAt c where eAt = S eJt S1 eAt = 4 1 1 t . 8 0 0 1 eAt = 0 1/8 1 1/2

1 + 4t 2t 8t 1 4t 864

The general solution of the inhomogeneous system of equations is x(t) = eAt c + eAt x(t) = eAt f (t) dt 1 4t 2t 8t 1 + 4t t3 t2 dt

1 + 4t 2t 1 + 4t 2t c+ 8t 1 4t 8t 1 4t x(t) = c1

We can tidy up the answer a little bit. First we take linear combinations of the homogeneous solutions to obtain a simpler form. x(t) = c1

1 1 2t 2 2 Log t + 6 2t2 t + c2 + 2 4t 1 4 4 Log t + 13 t

Then we subtract 2 times the rst homogeneous solution from the particular solution. x(t) = c1

1 1 2t 2 Log t + 6 2t2 t + c2 + 2 4t 1 4 Log t + 13 t

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15.5

Exercises

Exercise 15.4 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. x = Ax Hint, Solution Exercise 15.5 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. 1 1 2 x = Ax 0 2 2 x, 1 1 3 Hint, Solution Exercise 15.6 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . x = Ax Hint, Solution Exercise 15.7 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . 3 0 2 1 1 1 0 x, x(0) = x0 0 x = Ax 2 1 0 0 Hint, Solution 866 1 5 x, 1 3 x(0) = x0 1 1 2 1 x, 5 4 x(0) = x0 1 3

2 x(0) = x0 0 1

Exercise 15.8 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . x = Ax Hint, Solution Exercise 15.9 (mathematica/ode/systems/systems.nb) Find the solution of the following initial value problem. Describe the behavior of the solution as t . 1 0 0 1 x = Ax 4 1 0 x, x(0) = x0 2 3 6 2 30 Hint, Solution Exercise 15.10 1. Consider the system 1 1 1 x = Ax = 2 1 1 x. 3 2 4 (15.2) 1 4 x, 4 7 x(0) = x0 3 2

(a) Show that = 2 is an eigenvalue of multiplicity 3 of the coecient matrix A, and that there is only one corresponding eigenvector, namely 0 (1) 1 . = 1 (b) Using the information in part (i), write down one solution x(1) (t) of the system (15.2). There is no other solution of a purely exponential form x = et . (c) To nd a second solution use the form x = t e2t + e2t , and nd appropriate vectors and . This gives a solution of the system (15.2) which is independent of the one obtained in part (ii). 867

(d) To nd a third linearly independent solution use the form x = (t2 /2) e2t +t e2t + e2t . Show that , and satisfy the equations (A 2I) = 0, (A 2I) = , (A 2I) = .

The rst two equations can be taken to coincide with those obtained in part (iii). Solve the third equation, and write down a third independent solution of the system (15.2). 2. Consider the system 5 3 2 x = Ax = 8 5 4 x. 4 3 3 (15.3)

(a) Show that = 1 is an eigenvalue of multiplicity 3 of the coecient matrix A, and that there are only two linearly independent eigenvectors, which we may take as (1) 1 = 0 , 2 (2) 0 = 2 3

Find two independent solutions of equation (15.3). (b) To nd a third solution use the form x = t et +et ; then show that and must satisfy (A I) = 0, (A I) = .

Show that the most general solution of the rst of these equations is = c1 1 + c2 2 , where c1 and c2 are arbitrary constants. Show that, in order to solve the second of these equations it is necessary to take c1 = c2 . Obtain such a vector , and use it to obtain a third independent solution of the system (15.3). Hint, Solution 868

Exercise 15.11 (mathematica/ode/systems/systems.nb) Consider the system of ODEs dx = Ax, x(0) = x0 dt where A is the constant 3 3 matrix 1 1 1 1 1 A= 2 8 5 3 1. Find the eigenvalues and associated eigenvectors of A. [HINT: notice that = 1 is a root of the characteristic polynomial of A.] 2. Use the results from part (a) to construct eAt and therefore the solution to the initial value problem above. 3. Use the results of part (a) to nd the general solution to dx 1 = Ax. dt t Hint, Solution Exercise 15.12 (mathematica/ode/systems/systems.nb) 1. Find the general solution to dx = Ax dt where 2 0 1 A = 0 2 0 0 1 3 2. Solve dx = Ax + g(t), dt 869

x(0) = 0

using A from part (a). Hint, Solution Exercise 15.13 Let A be an n n matrix of constants. The system dx 1 = Ax, dt t is analogous to the Euler equation. 1. Verify that when A is a 2 2 constant matrix, elimination of (15.4) yields a second order Euler dierential equation. 2. Now assume that A is an n n matrix of constants. Show that this system, in analogy with the Euler equation has solutions of the form x = at where a is a constant vector provided a and satisfy certain conditions. 3. Based on your experience with the treatment of multiple roots in the solution of constant coecient systems, what form will the general solution of (15.4) take if is a multiple eigenvalue in the eigenvalue problem derived in part (b)? 4. Verify your prediction by deriving the general solution for the system dx 1 = dt t Hint, Solution 1 0 x. 1 1 (15.4)

870

15.6

Hint 15.1

Hints

Hint 15.2

Hint 15.3

Hint 15.4

Hint 15.5

Hint 15.6

Hint 15.7

Hint 15.8

Hint 15.9

Hint 15.10

871

872

15.7

Solutions

The matrix has the distinct eigenvalues 1 = 1 , 2 = 1 + . The corresponding eigenvectors are x1 = x2 = 2+ . 1

The general solution of the system of dierential equations is x = c1 2 (1)t 2 + (1+)t e e +c2 . 1 1 2 cos(t) sin(t) t cos(t) + 2 sin(t) t e + e cos(t) sin(t)

We can take the real and imaginary parts of either of these solution to obtain real-valued solutions. 2 + (1+)t e = 1 x = c1

c2 = 1

The solution subject to the initial condition is x= cos(t) 3 sin(t) t e . cos(t) sin(t)

Plotted in the phase plane, the solution spirals in to the origin as t increases. Both coordinates tend to zero as t . 873

The matrix has the distinct eigenvalues 1 = 2, 2 = 1 2, 3 = 1 + 2. The corresponding eigenvectors are 2 x1 = 2 , 1 2+ 2 x2 = 1 + 2 , 3 2 2 x3 = 1 2 . 3

The general solution of the system of dierential equations is 2 2 2 2 2+ x = c1 2 e2t +c2 1 + 2 e(1 2)t +c3 1 2 e(1+ 2)t . 1 3 3 We can take the real and imaginary parts of the second or third solution to obtain two real-valued solutions. 2 cos( 2t) + 2 sin( 2t) 2 cos( 2 sin( 2t) 2t) 2+ 2 1 + 2 e(1 2)t = cos( 2t) + 2 sin( 2t) et + 2 cos( 2t) + sin( 2t) et 3 3 cos( 2t) 3 sin( 2t) 2 cos( 2 sin( 2t) 2t) 2 cos( 2t) + 2 sin( 2t) 2 x = c1 2 e2t +c2 cos( 2t) + 2 sin( 2t) et +c3 2 cos( 2t) + sin( 2t) et 1 3 cos( 2t) 3 sin( 2t) 874

We apply the initial condition to determine the constants. 2 2 2 1 c1 2 1 2 c2 = 0 c3 0 1 3 0 1 1 5 c 1 = , c 2 = , c3 = 3 9 9 2 The solution subject to the initial condition is 2 cos( 4 2 sin( 2t) 2t) 2 1 1 x = 2 e2t + 4 cos( 2t) + sin( et . 2 2t) 3 6 1 2 cos( 2t) 5 2 sin( 2t) As t , all coordinates tend to innity. Plotted in the phase plane, the solution would spiral in to the origin. Solution 15.3 Homogeneous Solution, Method 1. We designate the inhomogeneous system of dierential equations x = Ax + g(t). First we nd homogeneous solutions. The characteristic equation for the matrix is () = 4 2 = 2 = 0 8 4

Thus we see that there is only one linearly independent eigenvector. We choose = 1 . 2

875

We look for a second homogeneous solution of the form x2 = t + . We substitute this into the homogeneous equation. x2 = Ax2 = A(t + ) We see that and satisfy A = 0, A = . We choose to be the eigenvector that we found previously. The equation for is then 4 2 8 4 1 2 = 1 . 2

is determined up to an additive multiple of . We choose = Thus a second homogeneous solution is x2 = The general homogeneous solution of the system is xh = c1 1 t + c2 2 2t 1/2 876 1 0 t+ . 2 1/2 0 . 1/2

We can write this in matrix notation using the fundamental matrix (t). xh = (t)c = 1 t 2 2t 1/2 c1 c2

Homogeneous Solution, Method 2. The similarity transform C1 AC with C= will convert the matrix A= 1 0 2 1/2 4 2 8 4

to Jordan canonical form. We make the change of variables, y= The homogeneous system becomes dy = dt 1 0 4 2 y1 y2 The equation for y2 is y2 = 0. y2 = c2 The equation for y1 becomes y1 = c2 . y1 = c1 + c2 t 877 = 4 2 8 4 0 1 0 0 1 0 y 2 1/2 y1 y2 1 0 x. 2 1/2

Inhomogeneous Solution. By the method of variation of parameters, a particular solution is xp = (t) xp = xp = xp = 1 t 2 2t 1/2 1 t 2 2t 1/2 1 t 2 2t 1/2 xp = 1 (t)g(t) dt. 1 4t 2t 4 2 t3 t2 dt dt

By adding 2 times our rst homogeneous solution, we obtain xp = 2 log t + 2t1 1 t2 2 4 log t + 5t1

The general solution of the system of dierential equations is x = c1 1 t 2 log t + 2t1 1 t2 2 + c2 + 2 2t 1/2 4 log t + 5t1

878

Solution 15.4 We consider an initial value problem. x = Ax The Jordan canonical form of the matrix is J= The solution of the initial value problem is x = eAt x0 . x = eAt x0 = S eJt S1 x0 = = 1 2 1 1 1 5 et 0 0 e3t 1 4 5 1 1 1 1 3 1 0 . 0 3 2 1 x, 5 4 x(0) = x0 1 3

et + e3t et +5 e3t x= 1 2 1 t 1 e + 1 2 1 3t e 5

Solution 15.5 We consider an initial value problem. 1 1 2 x = Ax 0 2 2 x, 1 1 3 The Jordan canonical form of the matrix is 1 0 0 J = 0 2 0 . 0 0 3 879 2 x(0) = x0 0 1

The solution of the initial value problem is x = eAt x0 . x = eAt x0 = S eJt S1 x0 t e 0 0 0 1 2 1 1 0 2 1 = 2 1 2 0 e2t 0 4 2 4 0 2 0 0 e3t 1 0 1 1 1 2 1 2t 2e 2 et +2 e2t = et

x = Ax

x(0) = x0

J=

The solution of the initial value problem is x = eAt x0 . x = eAt x0 = S eJt S1 x0 = = 2 2+ 1 1 e(1)t 0 (1+)t e 0 1 2 1 2 1 + 2 1 1

1 t 3 t e sin(t) e cos(t) 1 1

3 0 2 x = Ax 1 1 0 x, 2 1 0

1 0 x(0) = x0 0

2 cos( 4 2 sin( 2t) 2t) 2 1 1 x = 2 e2t + 4 cos( 2t) + sin( et . 2 2t) 3 6 1 2 cos( 2t) 5 2 sin( 2t) Solution 15.8 We consider an initial value problem.

x = Ax

1 4 x, 4 7

x(0) = x0

3 2

Method 1. Find Homogeneous Solutions. The matrix has the double eigenvalue 1 = 2 = 3. There is only 882

(A + 3I)x2 = x1 x1 = The general solution of the system of dierential equations is x = c1 1 3t e +c2 1 4 1 t+ 4 0 e3t .

We apply the initial condition to determine the constants. 1 1 1 0 c1 = 2, The solution subject to the initial condition is x= 3 + 4t 3t e . 2 + 4t c1 c2 = 3 2

c2 = 1

Both coordinates tend to zero as t . Method 2. Use the Exponential Matrix. The Jordan canonical form of the matrix is J= 3 1 . 0 3 883

The solution of the initial value problem is x = eAt x0 . x = eAt x0 = S eJt S1 x0 = 1 1/4 1 0 e3t t e3t e3t 0 0 1 4 4 3 2

3 + 4t 3t e . 2 + 4t

1 0 0 x = Ax 4 1 0 x, 3 6 2

1 x(0) = x0 2 30

Method 1. Find Homogeneous Solutions. The matrix has the distinct eigenvalues 1 = 1, 2 = 1, 3 = 2. The corresponding eigenvectors are 1 x1 = 2 , 5 0 x2 = 1 , 6 0 x3 = 0 . 1

The general solution of the system of dierential equations is 1 0 0 2 et +c2 1 et +c3 0 e2t . x = c1 5 6 1 884

The solution subject to the initial condition is 1 0 0 2 et 4 1 et 11 0 e2t . x= 5 6 1 As t , the rst coordinate vanishes, the second coordinate tends to and the third coordinate tends to Method 2. Use the Exponential Matrix. The Jordan canonical form of the matrix is 1 0 0 J = 0 1 0 . 0 0 2 The solution of the initial value problem is x = eAt x0 . x = eAt x0 = S eJt S1 x0 1 0 = 2 1 5 6 t e 0 0 0 1 0 0 1 1 0 0 et 0 2 1 0 2 2 1 0 0 e2t 7 6 1 30

1 0 0 x = 2 et 4 1 et 11 0 e2t . 5 6 1

885

Solution 15.10 1. (a) We compute the eigenvalues of the matrix. 1 1 1 2 1 1 = 3 + 62 12 + 8 = ( 2)3 () = 3 2 4 = 2 is an eigenvalue of multiplicity 3. The rank of the null space of A 2I is 1. (The rst two rows are linearly independent, but the third is a linear combination of the rst two.) 1 1 1 A 2I = 2 1 1 3 2 2 Thus there is only one eigenvector. 1 1 1 1 2 1 1 2 = 0 3 2 2 3 0 (1) = 1 1 (b) One solution of the system of dierential equations is x(1)

0 = 1 e2t . 1

(c) We substitute the form x = t e2t + e2t into the dierential equation. x = Ax e +2t e +2 e2t = At e2t +A e2t (A 2I) = 0, (A 2I) =

2t 2t

886

We already have a solution of the rst equation, we need the generalized eigenvector . Note that is only determined up to a constant times . Thus we look for the solution whose second component vanishes to simplify the algebra. (A 2I) = 1 1 1 1 0 2 1 1 0 = 1 3 2 2 3 1 1 + 3 = 0, 21 3 = 1, 1 0 = 1 31 + 23 = 1

x(2)

(d) To nd a third solution we substutite the form x = (t2 /2) e2t +t e2t + e2t into the dierential equation. x = Ax 2(t /2) e +( + 2)t e +( + 2) e2t = A(t2 /2) e2t +At e2t +A e2t (A 2I) = 0, (A 2I) = , (A 2I) =

2 2t 2t

We have already solved the rst two equations, we need the generalized eigenvector . Note that is only determined up to a constant times . Thus we look for the solution whose second component vanishes to 887

x(3)

() =

= 1 is an eigenvalue of multiplicity 3. The rank of the null space of A I is 2. (The second and third rows are multiples of the rst.) 4 3 2 A I = 8 6 4 4 3 2 888

Thus there are two eigenvectors. 4 3 2 1 8 6 4 2 = 0 4 3 2 3 1 0 (1) 0 , (2) = 2 = 2 3 Two linearly independent solutions of the dierential equation are 1 0 x(1) = 0 et , x(2) = 2 et . 2 3 (b) We substitute the form x = t et + et into the dierential equation. x = Ax e +t e + et = At et +A et (A I) = 0, (A I) =

t t

The general solution of the rst equation is a linear combination of the two solutions we found in the previous part. = c1 1 + c2 2 Now we nd the generalized eigenvector, . Note that is only determined up to a linear combination of 1 and 2 . Thus we can take the rst two components of to be zero. 4 3 2 0 1 0 8 6 4 0 = c1 0 + c2 2 4 3 2 3 2 3 23 = c1 , 43 = 2c2 , c1 = c2 , 23 = 2c1 3c2 c1 3 = 2

889

We see that we must take c1 = c2 in order to obtain a solution. We choose c1 = c2 = 2 A third linearly independent solution of the dierential equation is 2 0 (3) 4 t et + 0 et . x = 2 1 Solution 15.11 1. The characteristic polynomial of the matrix is 1 1 1 2 1 1 () = 8 5 3 = (1 )2 (3 ) + 8 10 5(1 ) 2(3 ) 8(1 ) = 3 2 + 4 + 4 = ( + 2)( + 1)( 2) Thus we see that the eigenvalues are = 2, 1, 2. The eigenvectors satisfy (A I) = 0. For = 2, we have (A + 2I) = 0. 3 1 1 1 0 2 2 = 0 3 1 8 5 1 3 0 If we take 3 = 1 then the rst two rows give us the system, 3 1 2 3 1 2 890 = 1 1

which has the solution 1 = 4/7, 2 = 5/7. For the rst eigenvector we choose: 4 = 5 7 For = 1, we have (A + I) = 0. 2 1 1 1 0 2 2 = 0 2 1 8 5 2 3 0 If we take 3 = 1 then the rst two rows give us the system, 2 1 2 2 1 2 = 1 1

which has the solution 1 = 3/2, 2 = 2. For the second eigenvector we choose: 3 4 = 2 For = 2, we have (A + I) = 0. 1 1 1 1 0 2 1 1 2 = 0 8 5 5 3 0 891

which has the solution 1 = 0, 2 = 1. For the third eigenvector we choose: 0 1 = 1 In summary, the eigenvalues and eigenvectors are 3 0 4 5 , 4 , 1 = 7 2 1

= {2, 1, 2},

2. The matrix is diagonalized with the similarity transformation J = S1 AS, where S is the matrix with eigenvectors as columns: 4 3 0 4 1 S= 5 7 2 1 The matrix exponential, eAt is given by eA = S eJ S1 . 2t e 6 3 3 4 3 0 0 0 1 eA = 5 12 4 4 . 4 1 0 et 0 12 2t 18 13 1 7 2 1 0 0 e 892

2 e2t +3 et

8 et +3 et 2 7 e2t 4 et 3 et 2

2t

e2t + et

15 e2t 16 et +13 et 12 21 e2t 8 et 13 et 12

e2t + et

eAt = 5 e

15 e2t 16 et + et 12 21 e2t 8 et et 12

The solution of the initial value problem is eAt x0 . 3. The general solution of the Euler equation is 4 3 0 5 t2 + c2 4 t1 + c3 1 t2 . c1 7 2 1 We could also write the solution as x = tA c eA log t c, Solution 15.12 1. The characteristic polynomial of the matrix is 2 0 1 0 2 0 () = 0 1 3 = (2 )2 (3 ) Thus we see that the eigenvalues are = 2, 2, 3. Consider 0 0 1 A 2I = 0 0 0 . 0 1 3 Since rank(nullspace(A 2I)) = 1 there is one eigenvector and one generalized eigenvector of rank two for 893

= 2. The generalized eigenvector of rank two satises (A 2I)2 2 = 0 0 1 1 0 0 0 2 = 0 0 1 1 We choose the solution 0 2 = 1 . 1 1 1 = (A 2I) 2 = 0 . 0 The eigenvector for = 3 satises (A 3I)2 = 0 1 0 1 0 1 0 = 0 0 1 0 We choose the solution 1 0 . = 1 0 1 1 0 , 1 , 0 . = 0 1 1 894

The matrix of eigenvectors and its inverse is 1 0 1 S = 0 1 0 , 0 1 1 The Jordan canonical form of the matrix, which satises 2 J = 0 0 Recall that the function of a Jordan block is: 0 f 0 0 and that the function of a matrix J1 0 f 0 0 1 0 0 0 1 0

S1

1 1 1 = 0 1 0 . 0 1 1

J = S1 AS is 1 0 2 0 0 3

() f () f () f () f 1! 0 2! 3! f () f () 0 0 f () = 1! 2! , f () 0 1 0 f () 1! 0 0 0 f ()

in Jordan canonical form is 0 0 0 f (J1 ) 0 0 0 J2 0 0 0 f (J2 ) 0 0 = . 0 J 3 0 0 0 f (J3 ) 0 0 0 J4 0 0 0 f (J4 ) et , which has the derivative f () = t et . Thus 0 0 e3t

We want to compute eJt so we consider the function f () = we see that 2t e t e2t eJt = 0 e2t 0 0 895

The exponential matrix is eAt = S eJt S1 , eAt e2t (1 + t) e2t + e3t e2t + e3t . e2t 0 =0 2t 3t 3t e 0 e +e

The general solution of the homogeneous dierential equation is x = eAt C. 2. The solution of the inhomogeneous dierential equation subject to the initial condition is

t

x = eAt 0 + eAt

0 t

eA g( ) d eA g( ) d

x = eAt

0

Solution 15.13 1. dx 1 = Ax dt t x1 a b t = x2 c d The rst component of this equation is tx1 = ax1 + bx2 . 896

x1 x2

We dierentiate and multiply by t to obtain a second order coupled equation for x1 . We use (15.4) to eliminate the dependence on x2 . t2 x1 + tx1 = atx1 + btx2 t2 x1 + (1 a)tx1 = b(cx1 + dx2 ) t2 x1 + (1 a)tx1 bcx1 = d(tx1 ax1 ) t2 x1 + (1 a d)tx1 + (ad bc)x1 = 0 Thus we see that x1 satises a second order, Euler equation. By symmetry we see that x2 satises, t2 x2 + (1 b c)tx2 + (bc ad)x2 = 0. 2. We substitute x = at into (15.4). 1 at1 = Aat t Aa = a Thus we see that x = at is a solution if is an eigenvalue of A with eigenvector a. 3. Suppose that = is an eigenvalue of multiplicity 2. If = has two linearly independent eigenvectors, a and b then at and bt are linearly independent solutions. If = has only one linearly independent eigenvector, a, then at is a solution. We look for a second solution of the form x = t log t + t . Substituting this into the dierential equation yields t1 log t + t1 + t1 = At1 log t + At1 We equate coecients of t1 log t and t1 to determine and . (A I) = 0, 897 (A I) =

These equations have solutions because = has generalized eigenvectors of rst and second order. Note that the change of independent variable = log t, y( ) = x(t), will transform (15.4) into a constant coecient system. dy = Ay d Thus all the methods for solving constant coecient systems carry over directly to solving (15.4). In the case of eigenvalues with multiplicity greater than one, we will have solutions of the form, t , t log t + t , t (log t)2 + t log t + t , ...,

analogous to the form of the solutions for a constant coecient system, e , 4. Method 1. Now we consider e + e , 2 e + e + e , ....

dx 1 = dt t

1 0 x. 1 1

898

One solution of the dierential equation is x1 = We look for a second solution of the form x2 = at log t + t. satises the equation (A I) = 0 0 = 1 0 1 . 0 0 . 1 0 t. 1

The solution is determined only up to an additive multiple of a. We choose = Thus a second linearly independent solution is x2 = The general solution of the dierential equation is x = c1 0 t + c2 1 0 1 t log t + t . 1 0 1 0 t log t + t. 1 0

Method 2. Note that the matrix is lower triangular. x1 x2 We have an uncoupled equation for x1 . 1 x1 = x1 t x1 = c1 t 899 = 1 t 1 0 1 1 x1 x2 (15.5)

By substituting the solution for x1 into (15.5), we obtain an uncoupled equation for x2 . x2 = 1 (c1 t + x2 ) t 1 x2 x2 = c1 t 1 c1 x2 = t t

900

A little partyin is good for the soul. -Matt Metz

16.1

Exact Equations

Exercise 16.1 Consider a second order, linear, homogeneous dierential equation: P (x)y + Q(x)y + R(x)y = 0. Show that P Q + R = 0 is a necessary and sucient condition for this equation to be exact. Hint, Solution Exercise 16.2 Determine an equation for the integrating factor (x) for Equation 16.1. 901 (16.1)

Hint, Solution Exercise 16.3 Show that y + xy + y = 0 is exact. Find the solution. Hint, Solution

16.2

Nature of Solutions

Result 16.2.1 Consider the nth order ordinary dierential equation of the form dn y dn1 y dy L[y] = n + pn1 (x) n1 + + p1 (x) + p0 (x)y = f (x). dx dx dx (16.2)

If the coecient functions pn1 (x), . . . , p0 (x) and the inhomogeneity f (x) are continuous on some interval a < x < b then the dierential equation subject to the conditions, y(x0 ) = v0 , y (x0 ) = v1 , ... y (n1) (x0 ) = vn1 , a < x0 < b,

Exercise 16.4 On what intervals do the following problems have unique solutions? 1. xy + 3y = x 2. x(x 1)y + 3xy + 4y = 2 902

3. ex y + x2 y + y = tan x Hint, Solution Linearity of the Operator. The dierential operator L is linear. To verify this, dn1 d dn L[cy] = n (cy) + pn1 (x) n1 (cy) + + p1 (x) (cy) + p0 (x)(cy) dx dx dx dn1 d dn = c n y + cpn1 (x) n1 y + + cp1 (x) y + cp0 (x)y dx dx dx = cL[y] dn dn1 d L[y1 + y2 ] = n (y1 + y2 ) + pn1 (x) n1 (y1 + y2 ) + + p1 (x) (y1 + y2 ) + p0 (x)(y1 + y2 ) dx dx dx dn dn1 d = n (y1 ) + pn1 (x) n1 (y1 ) + + p1 (x) (y1 ) + p0 (x)(y1 ) dx dx dx dn1 d dn + n (y2 ) + pn1 (x) n1 (y2 ) + + p1 (x) (y2 ) + p0 (x)(y2 ) dx dx dx = L[y1 ] + L[y2 ]. Homogeneous Solutions. The general homogeneous equation has the form L[y] = dn1 y dy dn y + pn1 (x) n1 + + p1 (x) + p0 (x)y = 0. n dx dx dx

From the linearity of L, we see that if y1 and y2 are solutions to the homogeneous equation then c1 y1 + c2 y2 is also a solution, (L[c1 y1 + c2 y2 ] = 0). On any interval where the coecient functions are continuous, the nth order linear homogeneous equation has n linearly independent solutions, y1 , y2 , . . . , yn . (We will study linear independence in Section 16.4.) The general solution to the homogeneous problem is then yh = c1 y1 + c2 y2 + + cn yn . 903

Particular Solutions. Any function, yp , that satises the inhomogeneous equation, L[yp ] = f (x), is called a particular solution or particular integral of the equation. Note that for linear dierential equations the particular solution is not unique. If yp is a particular solution then yp +yh is also a particular solution where yh is any homogeneous solution. The general solution to the problem L[y] = f (x) is the sum of a particular solution and a linear combination of the homogeneous solutions y = yp + c1 y1 + + cn yn . Example 16.2.1 Consider the dierential equation y y = 1. You can verify that two homogeneous solutions are ex and 1. A particular solution is x. Thus the general solution is y = x + c1 ex +c2 . Exercise 16.5 Suppose you are able to nd three linearly independent particular solutions u1 (x), u2 (x) and u3 (x) of the second order linear dierential equation L[y] = f (x). What is the general solution? Hint, Solution Real-Valued Solutions. If the coecient function and the inhomogeneity in Equation 16.2 are real-valued, then the general solution can be written in terms of real-valued functions. Let y be any, homogeneous solution, (perhaps complex-valued). By taking the complex conjugate of the equation L[y] = 0 we show that y is a homogeneous solution as well. L[y] = 0 L[y] = 0 y (n) + pn1 y (n1) + + p0 y = 0 y (n) + pn1 y (n1) + + p0 y = 0 L [] = 0 y 904

For the same reason, if yp is a particular solution, then yp is a particular solution as well. Since the real and imaginary parts of a function y are linear combinations of y and y , (y) = y+y , 2 (y) = yy , 2

if y is a homogeneous solution then both y and (y) are homogeneous solutions. Likewise, if yp is a particular solution then (yp ) is a particular solution. yp + yp f f = + =f 2 2 2

L [ (yp )] = L

Thus we see that the homogeneous solution, the particular solution and the general solution of a linear dierential equation with real-valued coecients and inhomogeneity can be written in terms of real-valued functions.

Result 16.2.2 The dierential equation dn y dn1 y dy L[y] = n + pn1 (x) n1 + + p1 (x) + p0 (x)y = f (x) dx dx dx with continuous coecients and inhomogeneity has a general solution of the form y = yp + c1 y1 + + cn yn where yp is a particular solution, L[yp ] = f , and the yk are linearly independent homogeneous solutions, L[yk ] = 0. If the coecient functions and inhomogeneity are real-valued, then the general solution can be written in terms of real-valued functions.

905

16.3

Any linear dierential equation can be put in the form of a system of rst order dierential equations. Consider y (n) + pn1 y (n1) + + p0 y = f (x). We introduce the functions, y1 = y, y2 = y , ,..., yn = y (n1) .

The dierential equation is equivalent to the system y1 = y2 y2 = y3 . . .=. . . yn = f (x) pn1 yn p0 y1 . The rst order system is more useful when numerically solving the dierential equation. Example 16.3.1 Consider the dierential equation y + x2 y + cos x y = sin x. The corresponding system of rst order equations is y1 = y2 y2 = sin x x2 y2 cos x y1 .

906

16.4

16.4.1

The Wronskian

Derivative of a Determinant.

Before investigating the Wronskian, we will need a preliminary result from matrix theory. Consider an n n matrix A whose elements aij (x) are functions of x. We will denote the determinant by [A(x)]. We then have the following theorem.

Result 16.4.1 Let aij (x), the elements of the matrix A, be dierentiable functions of x. Then n d [A(x)] = k [A(x)] dx

k=1

where k [A(x)] is the determinant of the matrix A with the k th row replaced by the derivative of the k th row.

Example 16.4.1 Consider the the matrix A(x) = x x2 x2 x4

The determinant is x5 x4 thus the derivative of the determinant is 5x4 4x3 . To check the theorem, d x x2 d [A(x)] = dx dx x2 x4 1 2x x x2 = 2 4 + x x 2x 4x3 = x4 2x3 + 4x4 2x3 = 5x4 4x3 .

907

16.4.2

A set of functions {y1 , y2 , . . . , yn } is linearly dependent on an interval if there are constants c1 , . . . , cn not all zero such that c1 y1 + c2 y2 + + cn yn = 0 (16.3) identically on the interval. The set is linearly independent if all of the constants must be zero to satisfy c1 y1 + cn yn = 0 on the interval. Consider a set of functions {y1 , y2 , . . . , yn } that are linearly dependent on a given interval and n 1 times dierentiable. There are a set of constants, not all zero, that satisfy equation 16.3 Dierentiating equation 16.3 n 1 times gives the equations, c1 y1 + c2 y2 + + cn yn = 0 c1 y1 + c2 y2 + + cn yn = 0 c1 y1

(n1)

+ c2 y2

(n1)

(n1) + + cn yn = 0.

(n1)

y2

(n1)

From linear algebra, we know that this equation has a solution for a nonzero constant vector only if the determinant of the matrix is zero. Here we dene the Wronskian ,W (x), of a set of functions. y1 y1 . . . y1

(n1)

W (x) =

y2 y2 . . . y2

(n1)

908

Thus if a set of functions is linearly dependent on an interval, then the Wronskian is identically zero on that interval. Alternatively, if the Wronskian is identically zero, then the above matrix equation has a solution for a nonzero constant vector. This implies that the the set of functions is linearly dependent.

Result 16.4.2 The Wronskian of a set of functions vanishes identically over an interval if and only if the set of functions is linearly dependent on that interval. The Wronskian of a set of linearly independent functions does not vanish except possibly at isolated points.

Example 16.4.2 Consider the set, {x, x2 }. The Wronskian is x x2 1 2x

W (x) =

= 2x2 x2 = x2 . Thus the functions are independent. Example 16.4.3 Consider the set {sin x, cos x, ex }. The Wronskian is ex sin x cos x W (x) = cos x sin x ex . sin x cos x ex Since the last row is a constant multiple of the rst row, the determinant is zero. The functions are dependent. We could also see this with the identity ex = cos x + sin x.

909

16.4.3

Consider the nth order linear homogeneous dierential equation y (n) + pn1 (x)y (n1) + + p0 (x)y = 0. Let {y1 , y2 , . . . , yn } be any set of n linearly independent solutions. Let Y (x) be the matrix such that W (x) = [Y (x)]. Now lets dierentiate W (x). W (x) = =

k=1

d [Y (x)] dx

n

k [Y (x)]

We note that the all but the last term in this sum is zero. To see this, lets take a look at the rst term. y1 y1 . . . y1

(n1)

1 [Y (x)] =

y2 y2 . . . y2

(n1)

yn yn . .. . . . (n1) yn

The rst two rows in the matrix are identical. Since the rows are dependent, the determinant is zero. The last term in the sum is y1 y2 yn . . . ... . . . . . . n [Y (x)] = (n2) (n2) (n2) . y1 y2 yn (n) (n) (n) y2 yn y1 p0 (x)yi . Recalling that we In the last row of this matrix we make the substitution yi = pn1 (x)yi can add a multiple of a row to another without changing the determinant, we add p0 (x) times the rst row, and p1 (x) 910

(n) (n1)

times the second row, etc., to the last row. Thus we have the determinant, y1 . . .

(n2)

W (x) =

y2 . . .

(n2)

(n2)

(n2)

= pn1 (x)

y2 . . .

(n2)

...

= pn1 (x)W (x) Thus the Wronskian satises the rst order dierential equation, W (x) = pn1 (x)W (x). Solving this equation we get a result known as Abels formula. W (x) = c exp pn1 (x) dx

Thus regardless of the particular set of solutions that we choose, we can compute their Wronskian up to a constant factor.

Result 16.4.3 The Wronskian of any linearly independent set of solutions to the equation y (n) + pn1 (x)y (n1) + + p0 (x)y = 0 is, (up to a multiplicative constant), given by W (x) = exp pn1 (x) dx .

911

Example 16.4.4 Consider the dierential equation y 3y + 2y = 0. The Wronskian of the two independent solutions is W (x) = c exp = c e3x . For the choice of solutions {ex , e2x }, the Wronskian is W (x) = ex e2x = 2 e3x e3x = e3x . ex 2 e2x 3 dx

16.5

Well-Posed Problems

dn1 y dy dn y + pn1 (x) n1 + + p1 (x) + p0 (x)y = f (x) n dx dx dx y(x0 ) = v1 , y (x0 ) = v2 , . . . , y (n1) (x0 ) = vn

Consider the initial value problem for an nth order linear dierential equation.

Since the general solution to the dierential equation is a linear combination of the n homogeneous solutions plus the particular solution y = yp + c1 y1 + c2 y2 + + cn yn , the problem to nd the constants ci can be written yp (x0 ) y1 (x0 ) y2 (x0 ) ... yn (x0 ) c1 v1 y (x0 ) y2 (x0 ) ... yn (x0 ) c2 yp (x0 ) v2 1 . . . + = . . . .. . . . . . . . . ... . . . (n1) (n1) (n1) (n1) cn vn (x0 ) y2 (x0 ) . . . yn y1 (x0 ) yp (x0 ) 912

From linear algebra we know that this system of equations has a unique solution only if the determinant of the matrix is nonzero. Note that the determinant of the matrix is just the Wronskian evaluated at x0 . Thus if the Wronskian vanishes at x0 , the initial value problem for the dierential equation either has no solutions or innitely many solutions. Such problems are said to be ill-posed. From Abels formula for the Wronskian W (x) = exp pn1 (x) dx ,

we see that the only way the Wronskian can vanish is if the value of the integral goes to . Example 16.5.1 Consider the initial value problem 2 2 y y + 2 y = 0, x x 2 dx x vanishes at x = 0. Thus this problem is not well-posed. The general solution of the dierential equation is W (x) = exp The Wronskian y(0) = y (0) = 1.

= exp (2 log x) = x2

y = c1 x + c2 x2 . We see that the general solution cannot satisfy the initial conditions. If instead we had the initial conditions y(0) = 0, y (0) = 1, then there would be an innite number of solutions. Example 16.5.2 Consider the initial value problem y The Wronskian W (x) = exp 0 dx =1 2 y = 0, x2 y(0) = y (0) = 1.

913

does not vanish anywhere. However, this problem is not well-posed. The general solution, y = c1 x1 + c2 x2 , cannot satisfy the initial conditions. Thus we see that a non-vanishing Wronskian does not imply that the problem is well-posed.

Result 16.5.1 Consider the initial value problem dn y dn1 y dy + pn1 (x) n1 + + p1 (x) + p0 (x)y = 0 dxn dx dx y(x0 ) = v1 , y (x0 ) = v2 , . . . , y (n1) (x0 ) = vn . If the Wronskian W (x) = exp pn1 (x) dx

vanishes at x = x0 then the problem is ill-posed. The problem may be ill-posed even if the Wronskian does not vanish.

16.6

Consider a set of linearly independent solutions {u1 , u2 , . . . , un } to an nth order linear homogeneous dierential equation. This is called the fundamental set of solutions at x0 if they satisfy the relations u1 (x0 ) = 1 u1 (x0 ) = 0 . . . u1

(n1)

u2 (x0 ) = 0 u2 (x0 ) = 1 . . .

(n1)

... ... .. .

un (x0 ) = 0 un (x0 ) = 0 . . .

(n1)

(x0 ) = 0 u2

(x0 ) = 0 . . . un 914

(x0 ) = 1

Knowing the fundamental set of solutions is handy because it makes the task of solving an initial value problem trivial. Say we are given the initial conditions, y(x0 ) = v1 , y (x0 ) = v2 , ..., y (n1) (x0 ) = vn .

If the ui s are a fundamental set then the solution that satises these constraints is just y = v1 u1 (x) + v2 u2 (x) + + vn un (x). Of course in general, a set of solutions is not the fundamental set. If the Wronskian of the solutions is nonzero and nite we can generate a fundamental set of solutions that are linear combinations of our original set. Consider the case of a second order equation Let {y1 , y2 } be two linearly independent solutions. We will generate the fundamental set of solutions, {u1 , u2 }. u1 u2 = c11 c12 c21 c22 y1 y2

For {u1 , u2 } to satisfy the relations that dene a fundamental set, it must satisfy the matrix equation u1 (x0 ) u1 (x0 ) u2 (x0 ) u2 (x0 ) = c11 c12 c21 c22 = y1 (x0 ) y1 (x0 ) y2 (x0 ) y2 (x0 )

1

1 0 0 1

If the Wronskian is non-zero and nite, we can solve for the constants, cij , and thus nd the fundamental set of solutions. To generalize this result to an equation of order n, simply replace all the 2 2 matrices and vectors of length 2 with n n matrices and vectors of length n. I presented the case of n = 2 simply to save having to write out all the ellipses involved in the general case. (It also makes for easier reading.) Example 16.6.1 Two linearly independent solutions to the dierential equation y + y = 0 are y1 = ex and y2 = ex . y1 (0) y1 (0) y2 (0) y2 (0) 915 = 1 1 i

To nd the fundamental set of solutions, {u1 , u2 }, at x = 0 we solve the equation c11 c12 c21 c22 c11 c12 c21 c22 The fundamental set is ex + ex , 2 Using trigonometric identities we can rewrite these as u1 = u1 = cos x, = = 1 2 1 1

1

1 1 ex ex . 2

u2 =

u2 = sin x.

Result 16.6.1 The fundamental set of solutions at x = x0 , {u1 , u2 , . . . , un }, to an nth order linear dierential equation, satisfy the relations u1 (x0 ) = 1 u2 (x0 ) = 0 u1 (x0 ) = 0 u2 (x0 ) = 1 . . . . . . (n1) (n1) u1 (x0 ) = 0 u2 (x0 ) = 0 ... un (x0 ) = 0 ... un (x0 ) = 0 . ... . . (n1) . . . un (x0 ) = 1.

If the Wronskian of the solutions is nonzero and nite at the point x0 then you can generate the fundamental set of solutions from any linearly independent set of solutions.

Exercise 16.6 Two solutions of y y = 0 are ex and ex . Show that the solutions are independent. Find the fundamental set of solutions at x = 0. Hint, Solution 916

16.7

Adjoint Equations

For the nth order linear dierential operator dn y dn1 y + pn1 n1 + + p0 y dxn dx (where the pj are complex-valued functions) we dene the adjoint of L L[y] = pn L [y] = (1)n dn1 dn (pn y) + (1)n1 n1 (pn1 y) + + p0 y. dx dxn

Here f denotes the complex conjugate of f . Example 16.7.1 1 L[y] = xy + y + y x has the adjoint L [y] = d2 d 1 [xy] y +y 2 dx dx x 1 1 = xy + 2y y + 2 y + y x x 1 1 = xy + 2 y + 1+ 2 x x 1 x 1 x2

y.

= xy + 2y 2 1 = xy + y + y. x

y+ 1+

917

Thus by taking the adjoint of L , we obtain the original operator. In general, L = L. Consider L[y] = pn y (n) + + p0 y. If each of the pk is k times continuously dierentiable and u and v are n times continuously dierentiable on some interval, then on that interval vL[u] uL [v] = where B[u, v], the bilinear concomitant, is the bilinear form

n

d B[u, v] dx

B[u, v] =

m=1 j+k=m1 j0,k0

This equation is known as Lagranges identity. If L is a second order operator then vL[u] uL [v] = d up1 v + u p2 v u(p2 v) dx = u p2 v + u p1 v + u p2 v + (2p2 + p1 )v + (p2 + p1 )v .

Example 16.7.2 Verify Lagranges identity for the second order operator, L[y] = p2 y + p1 y + p0 y. vL[u] uL [v] = v(p2 u + p1 u + p0 u) u d2 d (p2 v) (p1 v) + p0 v 2 dx dx

= v(p2 u + p1 u + p0 u) u(p2 v + (2p2 p1 )v + (p2 p1 + p0 )v) = u p2 v + u p1 v + u p2 v + (2p2 + p1 )v + (p2 + p1 )v . We will not verify Lagranges identity for the general case. 918

b

a

x=b

B[u, v]

x=a

n1 dn n1 d (pn1 y) + + p0 y. (pn y) + (1) L [y] = (1) dxn1 dxn If each of the pk is k times continuously dierentiable and u and v are n times continuously dierentiable, then Lagranges identity states n

is dened

j+k=m1 j0,k0

b

a

x=b

B[u, v]

x=a

919

16.8

Additional Exercises

Exact Equations Nature of Solutions Transformation to a First Order System The Wronskian Well-Posed Problems The Fundamental Set of Solutions Adjoint Equations

Exercise 16.7 Find the adjoint of the Bessel equation of order , x2 y + xy + (x2 2 )y = 0, and the Legendre equation of order , (1 x2 )y 2xy + ( + 1)y = 0. Hint, Solution Exercise 16.8 Find the adjoint of x2 y xy + 3y = 0. Hint, Solution

920

16.9

Hint 16.1

Hints

Hint 16.2

Hint 16.3

Hint 16.4

Hint 16.5 The dierence of any two of the ui s is a homogeneous solution. Hint 16.6

Exact Equations Nature of Solutions Transformation to a First Order System The Wronskian Well-Posed Problems The Fundamental Set of Solutions Adjoint Equations

Hint 16.7

921

Hint 16.8

922

16.10

Solutions

Solution 16.1 The second order, linear, homogeneous dierential equation is P (x)y + Q(x)y + R(x)y = 0. An exact equation can be written in the form: d [a(x)y + b(x)y] = 0. dx If Equation 16.4 is exact, then we can write it in the form: d [P (x)y + f (x)y] = 0 dx for some function f (x). We carry out the dierentiation to write the equation in standard form: P (x)y + (P (x) + f (x)) y + f (x)y = 0 We equate the coecients of Equations 16.4 and 16.5 to obtain a set of equations. P (x) + f (x) = Q(x), f (x) = R(x). (16.5) (16.4)

In order to eliminate f (x), we dierentiate the rst equation and substitute in the expression for f (x) from the second equation. This gives us a necessary condition for Equation 16.4 to be exact: P (x) Q (x) + R(x) = 0 (16.6)

Now we demonstrate that Equation 16.6 is a sucient condition for exactness. Suppose that Equation 16.6 holds. Then we can replace R by Q P in the dierential equation. P y + Qy + (Q P )y = 0 923

We recognize the right side as an exact dierential. (P y + (Q P )y) = 0 Thus Equation 16.6 is a sucient condition for exactness. We can integrate to reduce the problem to a rst order dierential equation. P y + (Q P )y = c Solution 16.2 Suppose that there is an integrating factor (x) that will make P (x)y + Q(x)y + R(x)y = 0 exact. We multiply by this integrating factor. (x)P (x)y + (x)Q(x)y + (x)R(x)y = 0. We apply the exactness condition from Exercise 16.1 to obtain a dierential equation for the integrating factor. (P ) (Q) + R = 0 P + 2 P + P Q Q + R = 0 P + (2P Q) + (P Q + R) = 0 Solution 16.3 We consider the dierential equation, y + xy + y = 0. Since (1) (x) + 1 = 0 924 (16.7)

we see that this is an exact equation. We rearrange terms to form exact derivatives and then integrate. (y ) + (xy) = 0 y + xy = c d x2 /2 2 e y = c ex /2 dx y = c ex Solution 16.4 Consider the initial value problem, y + p(x)y + q(x)y = f (x), y(x0 ) = y0 , y (x0 ) = y1 . If p(x), q(x) and f (x) are continuous on an interval (a . . . b) with x0 (a . . . b), then the problem has a unique solution on that interval. 1. xy + 3y = x 3 y + y=1 x Unique solutions exist on the intervals ( . . . 0) and (0 . . . ). 2. x(x 1)y + 3xy + 4y = 2 4 2 3 y + y + y= x1 x(x 1) x(x 1) Unique solutions exist on the intervals ( . . . 0), (0 . . . 1) and (1 . . . ). 925

2 /2

ex

2 /2

dx + d ex

2 /2

3. ex y + x2 y + y = tan x y + x2 ex y + ex y = ex tan x Unique solutions exist on the intervals Solution 16.5 We know that the general solution is y = yp + c1 y1 + c2 y2 , where yp is a particular solution and y1 and y2 are linearly independent homogeneous solutions. Since yp can be any particular solution, we choose yp = u1 . Now we need to nd two homogeneous solutions. Since L[ui ] = f (x), L[u1 u2 ] = L[u2 u3 ] = 0. Finally, we note that since the ui s are linearly independent, y1 = u1 u2 and y2 = u2 u3 are linearly independent. Thus the general solution is y = u1 + c1 (u1 u2 ) + c2 (u2 u3 ). Solution 16.6 The Wronskian of the solutions is W (x) = ex ex = 2. ex ex

(2n1) 2

. . . (2n+1) 2

for n Z.

Since the Wronskian is nonzero, the solutions are independent. The fundamental set of solutions, {u1 , u2 }, is a linear combination of ex and ex . u1 u2 = c11 c12 c21 c22 926 ex ex

1 1

Exact Equations Nature of Solutions Transformation to a First Order System The Wronskian Well-Posed Problems The Fundamental Set of Solutions Adjoint Equations

Solution 16.7 1. The Bessel equation of order is x2 y + xy + (x2 2 )y = 0. 927

The adjoint equation is x2 + (4x x) + (2 1 + x2 2 ) = 0 x2 + 3x + (1 + x2 2 ) = 0. 2. The Legendre equation of order is (1 x2 )y 2xy + ( + 1)y = 0 The adjoint equation is (1 x2 ) + (4x + 2x) + (2 + 2 + ( + 1)) = 0 (1 x2 ) 2x + ( + 1) = 0 Solution 16.8 The adjoint of x2 y xy + 3y = 0 is d d2 2 (x y) + (xy) + 3y = 0 dx2 dx (x2 y + 4xy + 2y) + (xy + y) + 3y = 0 x2 y + 5xy + 6y = 0.

928

16.11

Quiz

Problem 16.1 What is the dierential equation whose solution is the two parameter family of curves y = c1 sin(2x + c2 )? Solution

929

16.12

Quiz Solutions

Solution 16.1 We take the rst and second derivative of y = c1 sin(2x + c2 ). y = 2c1 cos(2x + c2 ) y = 4c1 sin(2x + c2 ) This gives us three equations involving x, y, y , y and the parameters c1 and c2 . We eliminate the the parameters to obtain the dierential equation. Clearly we have, y + 4y = 0.

930

My new goal in life is to take the meaningless drivel out of human interaction. -Dave Ozenne The nth order linear homogeneous dierential equation can be written in the form: y (n) + an1 (x)y (n1) + + a1 (x)y + a0 (x)y = 0. In general it is not possible to solve second order and higher linear dierential equations. In this chapter we will examine equations that have special forms which allow us to either reduce the order of the equation or solve it.

17.1

y (n) + an1 y (n1) + + a1 y + a0 y = 0. 931

The nth order constant coecient dierential equation has the form:

We will nd that solving a constant coecient dierential equation is no more dicult than nding the roots of a polynomial. For notational simplicity, we will rst consider second order equations. Then we will apply the same techniques to higher order equations.

17.1.1

Factoring the Dierential Equation. Consider the second order constant coecient dierential equation: y + 2ay + by = 0. Just as we can factor a second degree polynomial: 2 + 2a + b = ( )( ), = a + we can factor Equation 17.1. d d2 + 2a +b y = 2 dx dx d dx d y dx a2 b and = a a2 b, (17.1)

Once we have factored the dierential equation, we can solve it by solving a series of two rst order dierential equations. d We set u = dx y to obtain a rst order equation: d u = 0, dx which has the solution: u = c1 ex . To nd the solution of Equation 17.1, we solve d y = u = c1 ex . dx 932

We multiply by the integrating factor and integrate. d x e y = c1 e()x dx y = c1 ex We rst consider the case that and are distinct. y = c1 ex 1 e()x +c2 ex e()x dx + c2 ex

We choose new constants to write the solution in a simpler form. y = c1 ex +c2 ex Now we consider the case = . y = c1 ex 1 dx + c2 ex

Example 17.1.1 Consider the dierential equation: y + y = 0. To obtain the general solution, we factor the equation and apply the result in Equation 17.2. d d + y =0 dx dx y = c1 ex +c2 ex . 933

Example 17.1.2 Next we solve y = 0. d d 0 0 y =0 dx dx y = c1 e0x +c2 x e0x y = c1 + c2 x Substituting the Form of the Solution into the Dierential Equation. Note that if we substitute y = ex into the dierential equation (17.1), we will obtain the quadratic polynomial (17.1.1) for . y + 2ay + by = 0 e

2 x

+2a ex +b ex = 0 2 + 2a + b = 0

This gives us a supercially dierent method for solving constant coecient equations. We substitute y = ex into the dierential equation. Let and be the roots of the quadratic in . If the roots are distinct, then the linearly independent solutions are y1 = ex and y2 = ex . If the quadratic has a double root at = , then the linearly independent solutions are y1 = ex and y2 = x ex . Example 17.1.3 Consider the equation: y 3y + 2y = 0. The substitution y = ex yields 2 3 + 2 = ( 1)( 2) = 0. Thus the solutions are ex and e2x . Example 17.1.4 Next consider the equation: y 2y + 4y = 0. 934

The substitution y = ex yields 2 2 + 4 = ( 2)2 = 0. Because the polynomial has a double root, the solutions are e2x and x e2x .

Result 17.1.1 Consider the second order constant coecient dierential equation: y + 2ay + by = 0. We can factor the dierential equation into the form: d dx which has the solution: y= c1 ex +c2 ex , = , c1 ex +c2 x ex , = . d y = 0, dx

We can also determine and by substituting y = ex into the dierential equation and factoring the polynomial in .

Shift Invariance. Note that if u(x) is a solution of a constant coecient equation, then u(x + c) is also a solution. This is useful in applying initial or boundary conditions. Example 17.1.5 Consider the problem y 3y + 2y = 0, We know that the general solution is y = c1 ex +c2 e2x . 935 y(0) = a, y (0) = b.

Applying the initial conditions, we obtain the equations, c1 + c2 = a, The solution is y = (2a b) ex +(b a) e2x . Now suppose we wish to solve the same dierential equation with the boundary conditions y(1) = a and y (1) = b. All we have to do is shift the solution to the right. y = (2a b) ex1 +(b a) e2(x1) . c1 + 2c2 = b.

17.1.2

Real-Valued Solutions

If the coecients of the dierential equation are real, then the solution can be written in terms of real-valued functions (Result 16.2.2). For a real root = of the polynomial in , the corresponding solution, y = ex , is real-valued. Now recall that the complex roots of a polynomial with real coecients occur in complex conjugate pairs. Assume that are roots of n + an1 n1 + + a1 + a0 = 0. The corresponding solutions of the dierential equation are e(+)x and e()x . Note that the linear combinations e(+)x + e()x = ex cos(x), 2 e(+)x e()x = ex sin(x), 2

are real-valued solutions of the dierential equation. We could also obtain real-valued solution by taking the real and imaginary parts of either e(+)x or e()x . e(+)x = ex cos(x), Example 17.1.6 Consider the equation y 2y + 2y = 0. 936 e(+)x = ex sin(x)

The substitution y = ex yields 2 2 + 2 = ( 1 )( 1 + ) = 0. The linearly independent solutions are e(1+)x , and e(1)x .

We can write the general solution in terms of real functions. y = c1 ex cos x + c2 ex sin x

Exercise 17.1 Find the general solution of y + 2ay + by = 0 for a, b R. There are three distinct forms of the solution depending on the sign of a2 b. Hint, Solution Exercise 17.2 Find the fundamental set of solutions of y + 2ay + by = 0 at the point x = 0, for a, b R. Use the general solutions obtained in Exercise 17.1. Hint, Solution 937

Result 17.1.2 . Consider the second order constant coecient equation y + 2ay + by = 0. The general solution of this dierential equation is eax c1 e a2 b x +c2 e a2 b x y = eax c1 cos( b a2 x) + c2 sin( b a2 x) ax e (c + c x) 1 2 The fundamental set of solutions at x = 0 is

eax cosh( a2 b x) + a sinh( a2 b x) , eax 1 sinh( a2 b x) 2 b 2 b a a eax cos( b a2 x) + a 2 sin( b a2 x) , eax 1 2 sin( b a2 x) ba ba {(1 + ax) eax , x eax } if a2 > b, if a2 < b, if a2 = b.

if a2 > b, if a2 < b, if a2 = b.

To obtain the fundamental set of solutions at the point x = , substitute (x ) for x in the above solutions.

17.1.3

The constant coecient equation of order n has the form L[y] = y (n) + an1 y (n1) + + a1 y + a0 y = 0. 938

(17.3)

The substitution y = ex will transform this dierential equation into an algebraic equation. L[ex ] = n ex +an1 n1 ex + + a1 ex +a0 ex = 0 n + an1 n1 + + a1 + a0 ex = 0 n + an1 n1 + + a1 + a0 = 0 Assume that the roots of this equation, 1 , . . . , n , are distinct. Then the n linearly independent solutions of Equation 17.3 are e1 x , . . . , en x . If the roots of the algebraic equation are not distinct then we will not obtain all the solutions of the dierential equation. Suppose that 1 = is a double root. We substitute y = ex into the dierential equation. L[ex ] = [( )2 ( 3 ) ( n )] ex = 0 Setting = will make the left side of the equation zero. Thus y = ex is a solution. Now we dierentiate both sides of the equation with respect to and interchange the order of dierentiation. d x d e L[ex ] = L = L x ex d d Let p() = ( 3 ) ( n ). We calculate L x ex by applying L and then dierentiating with respect to . L x ex = d L[ex ] d d = [( )2 ( 3 ) ( n )] ex d d = [( )2 p()] ex d = 2( )p() + ( )2 p () + ( )2 p()x ex = ( ) [2p() + ( )p () + ( )p()x] ex 939

Since setting = will make this expression zero, L[x ex ] = 0, x ex is a solution of Equation 17.3. You can verify that ex and x ex are linearly independent. Now we have generated all of the solutions for the dierential equation. If = is a root of multiplicity m then by repeatedly dierentiating with respect to you can show that the corresponding solutions are ex , x ex , x2 ex , . . . , xm1 ex . Example 17.1.7 Consider the equation y 3y + 2y = 0. The substitution y = ex yields 3 3 + 2 = ( 1)2 ( + 2) = 0. Thus the general solution is y = c1 ex +c2 x ex +c3 e2x .

Result 17.1.3 Consider the nth order constant coecient equation dn y dn1 y dy + an1 n1 + + a1 + a0 y = 0. dxn dx dx Let the factorization of the algebraic equation obtained with the substitution y = ex be ( 1 )m1 ( 2 )m2 ( p )mp = 0. A set of linearly independent solutions is given by {e1 x , x e1 x , . . . , xm1 1 e1 x , . . . , ep x , x ep x , . . . , xmp 1 ep x }. If the coecients of the dierential equation are real, then we can nd a real-valued set of solutions.

940

Example 17.1.8 Consider the equation d2 y d4 y + 2 2 + y = 0. dx4 dx The substitution y = ex yields 4 + 22 + 1 = ( i)2 ( + i)2 = 0. Thus the linearly independent solutions are ex , x ex , ex and x ex . Noting that ex = cos(x) + sin(x), we can write the general solution in terms of sines and cosines. y = c1 cos x + c2 sin x + c3 x cos x + c4 x sin x

17.2

Euler Equations

L[y] = x2

Consider the equation d2 y dy + ax + by = 0, x > 0. 2 dx dx Lets say, for example, that y has units of distance and x has units of time. Note that each term in the dierential equation has the same dimension. (time)2 (distance) (distance) = (time) = (distance) 2 (time) (time)

Thus this is a second order Euler, or equidimensional equation. We know that the rst order Euler equation, xy +ay = 0, has the solution y = cxa . Thus for the second order equation we will try a solution of the form y = x . The substitution 941

y = x will transform the dierential equation into an algebraic equation. L[x ] = x2 d2 d [x ] + ax [x ] + bx = 0 2 dx dx ( 1)x + ax + bx = 0 ( 1) + a + b = 0

Factoring yields ( 1 )( 2 ) = 0. If the two roots, 1 and 2 , are distinct then the general solution is y = c1 x1 + c2 x2 . If the roots are not distinct, 1 = 2 = , then we only have the one solution, y = x . To generate the other solution we use the same approach as for the constant coecient equation. We substitute y = x into the dierential equation and dierentiate with respect to . d d L[x ] = L[ x ] d d = L[ln x x ] Note that d ln x d e x = = ln x e ln x = ln x x . d d Now we apply L and then dierentiate with respect to . d d L[x ] = ( )2 x d d = 2( )x + ( )2 ln x x 942

Equating these two results, L[ln x x ] = 2( )x + ( )2 ln x x . Setting = will make the right hand side zero. Thus y = ln x x is a solution. If you are in the mood for a little algebra you can show by repeatedly dierentiating with respect to that if = is a root of multiplicity m in an nth order Euler equation then the associated solutions are x , ln x x , (ln x)2 x , . . . , (ln x)m1 x . Example 17.2.1 Consider the Euler equation xy y + The substitution y = x yields the algebraic equation ( 1) + 1 = ( 1)2 = 0. Thus the general solution is y = c1 x + c2 x ln x. y = 0. x

17.2.1

Real-Valued Solutions

If the coecients of the Euler equation are real, then the solution can be written in terms of functions that are real-valued when x is real and positive, (Result 16.2.2). If are the roots of ( 1) + a + b = 0 then the corresponding solutions of the Euler equation are x+ We can rewrite these as x e ln x and x e ln x . 943 and x .

Note that the linear combinations x e ln x +x e ln x = x cos( ln x), 2 and x e ln x x e ln x = x sin( ln x), 2

are real-valued solutions when x is real and positive. Equivalently, we could take the real and imaginary parts of either x+ or x . x e ln x = x cos( ln x), x e ln x = x sin( ln x)

Result 17.2.1 Consider the second order Euler equation x2 y + (2a + 1)xy + by = 0. The general solution of this dierential equation is xa c1 x a2 b + c2 x a2 b y = xa c1 cos b a2 ln x + c2 sin b a2 ln x a x (c + c ln x) 1 2 The fundamental set of solutions at x = is

x a

if a2 > b, if a2 < b, if a2 = b.

y=

a2 b ln x + aa b sinh a2 b ln x , 2 a x sinh a2 b ln x if a2 > b, a2 b a a cos b a2 ln x + ba2 sin b a2 ln x , a x x sin b a2 ln if a2 < b, ba2 cosh 1 + a ln x ,

x a

ln x

if a2 = b.

944

Example 17.2.2 Consider the Euler equation x2 y 3xy + 13y = 0. The substitution y = x yields ( 1) 3 + 13 = ( 2 3)( 2 + 3) = 0. The linearly independent solutions are x2+3 , x23 . We can put this in a more understandable form. x2+3 = x2 e3 ln x = x2 cos(3 ln x) + x2 sin(3 ln x) We can write the general solution in terms of real-valued functions. y = c1 x2 cos(3 ln x) + c2 x2 sin(3 ln x)

n nd y x dxn

n1 y n1 d an1 x dxn1

+ + a1 x

dy + a0 y = 0. dx

Let the factorization of the algebraic equation obtained with the substitution y = x be ( 1 )m1 ( 2 )m2 ( p )mp = 0. A set of linearly independent solutions is given by {x1 , ln x x1 , . . . , (ln x)m1 1 x1 , . . . , xp , ln x xp , . . . , (ln x)mp 1 xp }. If the coecients of the dierential equation are real, then we can nd a set of solutions that are real valued when x is real and positive.

945

17.3

Exact Equations

d F (x, y, y , y , . . .) = f (x). dx

If you can write an equation in the form of an exact equation, you can integrate to reduce the order by one, (or solve the equation for rst order). We will consider a few examples to illustrate the method. Example 17.3.1 Consider the equation y + x2 y + 2xy = 0. We can rewrite this as d y + x2 y = 0. dx Integrating yields a rst order inhomogeneous equation. y + x2 y = c1 We multiply by the integrating factor I(x) = exp( x2 dx) to make this an exact equation. d 3 3 ex /3 y = c1 ex /3 dx ex

3 /3

y = c1

3 /3

ex ex

3 /3

dx + c2

3 /3

y = c1 ex

3 /3

dx + c2 ex

946

Result 17.3.1 If you can write a dierential equation in the form d F (x, y, y , y , . . .) = f (x), dx then you can integrate to reduce the order of the equation. F (x, y, y , y , . . .) = f (x) dx + c

17.4

y + d dx xy = 0.

This is a second order equation for y, but note that it is a rst order equation for y . We can solve directly for y . 2 3/2 x y =0 3 2 y = c1 exp x3/2 3 exp

Result 17.4.1 If an nth order equation does not explicitly depend on y then you can consider it as an equation of order n 1 for y .

947

17.5

Reduction of Order

Consider the second order linear equation L[y] y + p(x)y + q(x)y = f (x). Suppose that we know one homogeneous solution y1 . We make the substitution y = uy1 and use that L[y1 ] = 0. L[uy1 ] = 0u y1 + 2u y1 + uy1 + p(u y1 + uy1 ) + quy1 = 0 u y1 + u (2y1 + py1 ) + u(y1 + py1 + qy1 ) = 0 u y1 + u (2y1 + py1 ) = 0 Thus we have reduced the problem to a rst order equation for u . An analogous result holds for higher order equations.

Result 17.5.1 Consider the nth order linear dierential equation y (n) + pn1 (x)y (n1) + + p1 (x)y + p0 (x)y = f (x). Let y1 be a solution of the homogeneous equation. The substitution y = uy1 will transform the problem into an (n 1)th order equation for u . For the second order problem y + p(x)y + q(x)y = f (x) this reduced equation is u y1 + u (2y1 + py1 ) = f (x).

Example 17.5.1 Consider the equation y + xy y = 0. 948

By inspection we see that y1 = x is a solution. We would like to nd another linearly independent solution. The substitution y = xu yields xu + (2 + x2 )u = 0 2 +x u =0 u + x The integrating factor is I(x) = exp(2 ln x + x2 /2) = x2 exp(x2 /2). d 2 x2 ex /2 u = 0 dx 2 u = c1 x2 ex /2 u = c1 y = c1 x Thus we see that a second solution is y2 = x x2 ex

2 /2

x2 ex x2 ex

2 /2

dx + c2 dx + c2 x

2 /2

dx.

17.6

Let L be the linear dierential operator dn1 y dn y + pn1 n1 + + p0 y, dxn dx where each pj is a j times continuously dierentiable complex valued function. Recall that the adjoint of L is L[y] = pn L [y] = (1)n dn dn1 (pn y) + (1)n1 n1 (pn1 y) + + p0 y. dxn dx 949

If u and v are n times continuously dierentiable, then Lagranges identity states vL[u] uL [v] = where B[u, v] =

m=1 j+k=m1 j0,k0 n

d B[u, v], dx

For second order equations, B[u, v] = up1 v + u p2 v u(p2 v) . (See Section 16.7.) If we can nd a solution to the homogeneous adjoint equation, L [y] = 0, then we can reduce the order of the equation L[y] = f (x). Let satisfy L [] = 0. Substituting u = y, v = into Lagranges identity yields L[y] yL [] = L[y] = The equation L[y] = f (x) is equivalent to the equation d B[y, ] = f dx B[y, ] = which is a linear equation in y of order n 1. Example 17.6.1 Consider the equation L[y] = y x2 y 2xy = 0. 950 (x)f (x) dx, d B[y, ] dx

d B[y, ]. dx

Method 1. Note that this is an exact equation. d (y x2 y) = 0 dx y x2 y = c1 d 3 3 ex /3 y = c1 ex /3 dx y = c 1 ex Method 2. The adjoint equation is L [y] = y + x2 y = 0. By inspection we see that = (constant) is a solution of the adjoint equation. To simplify the algebra we will choose = 1. Thus the equation L[y] = 0 is equivalent to B[y, 1] = c1 d d y(x2 ) + [y](1) y [1] = c1 dx dx y x2 y = c1 . By using the adjoint equation to reduce the order we obtain the same solution as with Method 1.

3 /3

ex

3 /3

dx + c2 ex

3 /3

951

17.7

Additional Exercises

Exercise 17.3 (mathematica/ode/techniques linear/constant.nb) Find the solution of each one of the following initial value problems. Sketch the graph of the solution and describe its behavior as t increases. 1. 6y 5y + y = 0, y(0) = 4, y (0) = 0 2. y 2y + 5y = 0, y(/2) = 0, y (/2) = 2 3. y + 4y + 4y = 0, y(1) = 2, y (1) = 1 Hint, Solution Exercise 17.4 (mathematica/ode/techniques linear/constant.nb) Substitute y = ex to nd two linearly independent solutions to y 4y + 13y = 0. that are real-valued when x is real-valued. Hint, Solution Exercise 17.5 (mathematica/ode/techniques linear/constant.nb) Find the general solution to y y + y y = 0. Write the solution in terms of functions that are real-valued when x is real-valued. Hint, Solution Exercise 17.6 Substitute y = ex to nd the fundamental set of solutions at x = 0 for each of the equations: 1. y + y = 0, 952

2. y y = 0, 3. y = 0. What are the fundamental set of solutions at x = 1 for each of these equations. Hint, Solution Exercise 17.7 Consider a ball of mass m hanging by an ideal spring of spring constant k. The ball is suspended in a uid which damps the motion. This resistance has a coecient of friction, . Find the dierential equation for the displacement of the mass from its equilibrium position by balancing forces. Denote this displacement by y(t). If the damping force is weak, the mass will have a decaying, oscillatory motion. If the damping force is strong, the mass will not oscillate. The displacement will decay to zero. The value of the damping which separates these two behaviors is called critical damping. Find the solution which satises the initial conditions y(0) = 0, y (0) = 1. Use the solutions obtained in Exercise 17.2 or refer to Result 17.1.2. Consider the case m = k = 1. Find the coecient of friction for which the displacement of the mass decays most rapidly. Plot the displacement for strong, weak and critical damping. Hint, Solution Exercise 17.8 Show that y = c cos(x ) is the general solution of y + y = 0 where c and are constants of integration. (It is not sucient to show that y = c cos(x ) satises the dierential equation. y = 0 satises the dierential equation, but is is certainly not the general solution.) Find constants c and such that y = sin(x). Is y = c cosh(x ) the general solution of y y = 0? Are there constants c and such that y = sinh(x)? Hint, Solution Exercise 17.9 (mathematica/ode/techniques linear/constant.nb) Let y(t) be the solution of the initial-value problem y + 5y + 6y = 0; y(0) = 1, y (0) = V.

For what values of V does y(t) remain nonnegative for all t > 0? 953

Hint, Solution Exercise 17.10 (mathematica/ode/techniques linear/constant.nb) Find two linearly independent solutions of y + sign(x)y = 0, < x < .

where sign(x) = 1 according as x is positive or negative. (The solution should be continuous and have a continuous rst derivative.) Hint, Solution

Euler Equations

Exercise 17.11 Find the general solution of x2 y + xy + y = 0, Hint, Solution Exercise 17.12 Substitute y = x to nd the general solution of x2 y 2xy + 2y = 0. Hint, Solution Exercise 17.13 (mathematica/ode/techniques linear/constant.nb) Substitute y = x to nd the general solution of 1 xy + y + y = 0. x Write the solution in terms of functions that are real-valued when x is real-valued and positive. Hint, Solution 954 x > 0.

Exercise 17.14 Find the general solution of x2 y + (2a + 1)xy + by = 0. Hint, Solution Exercise 17.15 Show that y1 = eax , are linearly indepedent solutions of y a2 y = 0 for all values of a. It is common to abuse notation and write the second solution as eax eax y2 = a where the limit is taken if a = 0. Likewise show that y1 = xa , are linearly indepedent solutions of x2 y + xy a2 y = 0 for all values of a. Hint, Solution Exercise 17.16 (mathematica/ode/techniques linear/constant.nb) Find two linearly independent solutions (i.e., the general solution) of (a) x2 y 2xy + 2y = 0, Hint, Solution 955 (b) x2 y 2y = 0, (c) x2 y xy + y = 0. y2 = xa xa a y2 = lim ex ex a

Exact Equations

Exercise 17.17 Solve the dierential equation y + y sin x + y cos x = 0. Hint, Solution

Exercise 17.18 Consider (1 x2 )y 2xy + 2y = 0, Verify that y = x is a solution. Find the general solution. Hint, Solution Exercise 17.19 Consider the dierential equation y x+1 1 y + y = 0. x x 1 < x < 1.

1 Since the coecients sum to zero, (1 x+1 + x = 0), y = ex is a solution. Find another linearly independent solution. x Hint, Solution

Exercise 17.20 One solution of (1 2x)y + 4xy 4y = 0 is y = x. Find the general solution. Hint, Solution

956

Exercise 17.21 Find the general solution of (x 1)y xy + y = 0, given that one solution is y = ex . (you may assume x > 1) Hint, Solution

957

17.8

Hints

Hint 17.1 Substitute y = ex into the dierential equation. Hint 17.2 The fundamental set of solutions is a linear combination of the homogeneous solutions.

Hint 17.3

Hint 17.4

Hint 17.5 It is a constant coecient equation. Hint 17.6 Use the fact that if u(x) is a solution of a constant coecient equation, then u(x + c) is also a solution. Hint 17.7 The force on the mass due to the spring is ky(t). The frictional force is y (t). Note that the initial conditions describe the second fundamental solution at t = 0. Note that for large t, t et is much small than et if < . (Prove this.) Hint 17.8 By denition, the general solution of a second order dierential equation is a two parameter family of functions that satises the dierential equation. The trigonometric identities in Appendix Q may be useful.

958

Hint 17.9

Hint 17.10

Euler Equations

Hint 17.11

Hint 17.12

Hint 17.13

Hint 17.14 Substitute y = x into the dierential equation. Consider the three cases: a2 > b, a2 < b and a2 = b. Hint 17.15

Hint 17.16

Exact Equations

Hint 17.17 It is an exact equation.

959

Reduction of Order

Hint 17.18 Hint 17.19 Use reduction of order to nd the other solution. Hint 17.20 Use reduction of order to nd the other solution. Hint 17.21

960

17.9

Solutions

Solution 17.1 We substitute y = ex into the dierential equation. y + 2ay + by = 0 2 + 2a + b = 0 = a a2 b If a2 > b then the two roots are distinct and real. The general solution is y = c1 e(a+

a2 b)x

+c2 e(a

a2 b)x

If a2 < b then the two roots are distinct and complex-valued. We can write them as = a b a2 . The general solution is y = c1 e(a+

ba2 )x

+c2 e(a

ba2 )x

By taking the sum and dierence of the two linearly independent solutions above, we can write the general solution as y = c1 eax cos b a2 x + c2 eax sin b a2 x . If a2 = b then the only root is = a. The general solution in this case is then y = c1 eax +c2 x eax . In summary, the general solution is eax c1 e a2 b x +c2 e a2 b x y = eax c1 cos b a2 x + c2 sin b a2 x ax e (c + c x) 1 2

if a2 > b, if a2 < b, if a2 = b.

961

Solution 17.2 First we note that the general solution can be written, eax c1 cosh a2 b x + c2 sinh a2 b x y = eax c1 cos b a2 x + c2 sin b a2 x ax e (c1 + c2 x) if a2 > b, if a2 < b, if a2 = b.

We rst consider the case a2 > b. The derivative is y = eax ac1 + a2 b c2 cosh a2 b x + ac2 + a2 b c1 sinh a2 b x The conditions, y1 (0) = 1 and y1 (0) = 0, for the rst solution become, c1 = 1, ac1 + a2 b c2 = 0, a c1 = 1, c2 = . a2 b The conditions, y2 (0) = 0 and y2 (0) = 1, for the second solution become, c1 = 0, ac1 + a2 b c2 = 1, 1 c1 = 0, c2 = . a2 b The fundamental set of solutions is eax cosh a2 b x + a a2 b sinh a2 b x , eax 1 a2 b sinh a2 b x .

Now consider the case a2 < b. The derivative is y = eax ac1 + b a2 c2 cos b a2 x + ac2 b a2 c1 sin b a2 x 962

Clearly, the fundamental set of solutions is eax cos b a2 x + a sin b a2 x b a2 , eax 1 sin b a2 x b a2 .

Finally we consider the case a2 = b. The derivative is y = eax (ac1 + c2 + ac2 x). The conditions, y1 (0) = 1 and y1 (0) = 0, for the rst solution become, c1 = 1, ac1 + c2 = 0, c1 = 1, c2 = a. The conditions, y2 (0) = 0 and y2 (0) = 1, for the second solution become, c1 = 0, ac1 + c2 = 1, c1 = 0, c2 = 1. The fundamental set of solutions is (1 + ax) eax , x eax . In summary, the fundamental set of solutions at x = 0 is eax cosh a2 b x + a sinh a2 b x , eax 1 sinh a2 b x 2 b 2 b a a ax ax 1 2x + a 2x e cos b a ba ,e b a2 x 2 sin 2 sin ba ba {(1 + ax) eax , x eax } if a2 > b, if a2 < b, if a2 = b.

963

Solution 17.3 1. We consider the problem 6y 5y + y = 0, y(0) = 4, y (0) = 0. We make the substitution y = ex in the dierential equation. 62 5 + 1 = 0 (2 1)(3 1) = 0 1 1 = , 3 2 The general solution of the dierential equation is y = c1 et/3 +c2 et/2 . We apply the initial conditions to determine the constants. c1 c2 c1 + c2 = 4, + =0 3 2 c1 = 12, c2 = 8 The solution subject to the initial conditions is y = 12 et/3 8 et/2 . The solution is plotted in Figure 17.1. The solution tends to as t . 2. We consider the problem y 2y + 5y = 0, y(/2) = 0, y (/2) = 2. We make the substitution y = ex in the dierential equation. 2 2 + 5 = 0 =1 15 = {1 + 2, 1 2} 964

Figure 17.1: The solution of 6y 5y + y = 0, y(0) = 4, y (0) = 0. The general solution of the dierential equation is y = c1 et cos(2t) + c2 et sin(2t). We apply the initial conditions to determine the constants. y(/2) = 0 y (/2) = 2 c1 e/2 = 0

/2

c1 = 0 c2 = e/2

2c2 e

=2

The solution subject to the initial conditions is y = et/2 sin(2t). The solution is plotted in Figure 17.2. The solution oscillates with an amplitude that tends to as t . 3. We consider the problem y + 4y + 4y = 0, y(1) = 2, 965 y (1) = 1.

50 40 30 20 10 3 -10 4 5 6

Figure 17.2: The solution of y 2y + 5y = 0, y(/2) = 0, y (/2) = 2. We make the substitution y = ex in the dierential equation. 2 + 4 + 4 = 0 ( + 2)2 = 0 = 2 The general solution of the dierential equation is y = c1 e2t +c2 t e2t . We apply the initial conditions to determine the constants. c1 e2 c2 e2 = 2, 2c1 e2 +3c2 e2 = 1 c1 = 7 e2 , c2 = 5 e2 The solution subject to the initial conditions is y = (7 + 5t) e2(t+1) 966

2 1.5 1 0.5 -1 1 2 3 4 5

Figure 17.3: The solution of y + 4y + 4y = 0, y(1) = 2, y (1) = 1. The solution is plotted in Figure 17.3. The solution vanishes as t . lim (7 + 5t) e2(t+1) = lim 7 + 5t 5 = lim =0 2(t+1) 2(t+1) t e t 2 e

Solution 17.4 y 4y + 13y = 0. With the substitution y = ex we obtain 2 ex 4 ex +13 ex = 0 2 4 + 13 = 0 = 2 3i. Thus two linearly independent solutions are e(2+3i)x , and 967 e(23i)x .

Noting that e(2+3i)x = e2x [cos(3x) + sin(3x)] e(23i)x = e2x [cos(3x) sin(3x)], we can write the two linearly independent solutions y1 = e2x cos(3x), Solution 17.5 We note that y y +y y =0 is a constant coecient equation. The substitution, y = ex , yields 3 2 + 1 = 0 ( 1)( i)( + i) = 0. The corresponding solutions are ex , ex , and ex . We can write the general solution as y = c1 ex +c2 cos x + c3 sin x. Solution 17.6 We start with the equation y + y = 0. We substitute y = ex into the dierential equation to obtain 2 + 1 = 0, A linearly independent set of solutions is {ex , ex }. The fundamental set of solutions has the form y1 = c1 ex +c2 ex , y2 = c3 ex +c4 ex . 968 = i. y2 = e2x sin(3x).

By applying the constraints y1 (0) = 1, y1 (0) = 0, y2 (0) = 0, y2 (0) = 1, we obtain ex + ex = cos x, 2 ex + ex y2 = = sin x. 2 y1 = Now consider the equation y y = 0. By substituting y = ex we nd that a set of solutions is {ex , ex }. By taking linear combinations of these we see that another set of solutions is {cosh x, sinh x}. Note that this is the fundamental set of solutions. Next consider y = 0. We can nd the solutions by substituting y = ex or by integrating the equation twice. The fundamental set of solutions as x = 0 is {1, x}. Note that if u(x) is a solution of a constant coecient dierential equation, then u(x + c) is also a solution. Also note that if u(x) satises y(0) = a, y (0) = b, then u(x x0 ) satises y(x0 ) = a, y (x0 ) = b. Thus the fundamental sets of solutions at x = 1 are 1. {cos(x 1), sin(x 1)}, 2. {cosh(x 1), sinh(x 1)}, 3. {1, x 1}. 969

Solution 17.7 Let y(t) denote the displacement of the mass from equilibrium. The forces on the mass are ky(t) due to the spring and y (t) due to friction. We equate the external forces to my (t) to nd the dierential equation of the motion. my = ky y y + k y + y=0 m m

The solution which satises the initial conditions y(0) = 0, y (0) = 1 is et/(2m) 2m sinh 2 4km y(t) = et/(2m) 2m sin 2 t/(2m) 4km t e 2 4km t/(2m) 4km 2 t/(2m) if 2 > km, if 2 < km, if 2 = km.

We respectively call these cases: strongly damped, weakly damped and critically damped. In the case that m = k = 1 the solution is et/2 2 sinh 2 4 t/2 if > 2, 2 4 y(t) = et/2 2 sin 4 2 t/2 if < 2, 42 t t e if = 2. Note that when t is large, t et is much smaller than et/2 for < 2. To prove this we examine the ratio of these functions as t . t et t lim = lim (1/2)t t et/2 t e 1 = lim t (1 /2) e(1)t =0 970

10

Figure 17.4: Strongly, weakly and critically damped solutions. Using this result, we see that the critically damped solution decays faster than the weakly damped solution. We can write the strongly damped solution as et/2 For large t, the dominant factor is e 2 2 4 e

2 4 t/2

2 4 t/2

2 4 t/2

2 4 < 0.

This shows that the critically damped solution decays faster than the strongly damped solution. = 2 gives the fastest decaying solution. Figure 17.4 shows the solution for = 4, = 1 and = 2.

971

Solution 17.8 Clearly y = c cos(x ) satises the dierential equation y + y = 0. Since it is a two-parameter family of functions, it must be the general solution. Using a trigonometric identity we can rewrite the solution as y = c cos cos x + c sin sin x. Setting this equal to sin x gives us the two equations c cos = 0, c sin = 1, which has the solutions c = 1, = (2n + 1/2), and c = 1, = (2n 1/2), for n Z. Clearly y = c cosh(x ) satises the dierential equation y y = 0. Since it is a two-parameter family of functions, it must be the general solution. Using a trigonometric identity we can rewrite the solution as y = c cosh cosh x + c sinh sinh x. Setting this equal to sinh x gives us the two equations c cosh = 0, c sinh = 1, which has the solutions c = i, = (2n + 1/2), and c = i, = (2n 1/2), for n Z. Solution 17.9 We substitute y = et into the dierential equation. 2 et +5 et +6 et = 0 2 + 5 + 6 = 0 ( + 2)( + 3) = 0 972

The general solution of the dierential equation is y = c1 e2t +c2 e3t . The initial conditions give us the constraints: c1 + c2 = 1, 2c1 3c2 = V. The solution subject to the initial conditions is y = (3 + V ) e2t (2 + V ) e3t . This solution will be non-negative for t > 0 if V 3. Solution 17.10 For negative x, the dierential equation is y y = 0. We substitute y = ex into the dierential equation to nd the solutions. 2 1 = 0 = 1 y = ex , ex We can take linear combinations to write the solutions in terms of the hyperbolic sine and cosine. y = {cosh(x), sinh(x)} For positive x, the dierential equation is y + y = 0. 973

We substitute y = ex into the dierential equation to nd the solutions. 2 + 1 = 0 = y = ex , ex We can take linear combinations to write the solutions in terms of the sine and cosine. y = {cos(x), sin(x)} We will nd the fundamental set of solutions at x = 0. That is, we will nd a set of solutions, {y1 , y2 } that satisfy the conditions: y1 (0) = 1 y1 (0) = 0 y2 (0) = 0 y2 (0) = 1

Clearly, these solutions are y1 = cosh(x) x < 0 cos(x) x0 y2 = sinh(x) x < 0 sin(x) x0

Euler Equations

Solution 17.11 We consider an Euler equation, x2 y + xy + y = 0, x > 0. We make the change of independent variable = ln x, u() = y(x) to obtain u + u = 0. 974

We make the substitution u() = e . 2 + 1 = 0 = i A set of linearly independent solutions for u() is {e , e }. e + e e e and sin = , 2 2 another linearly independent set of solutions is {cos , sin }. cos = The general solution for y(x) is y(x) = c1 cos(ln x) + c2 sin(ln x). Solution 17.12 Consider the dierential equation x2 y 2xy + 2y = 0. With the substitution y = x this equation becomes ( 1) 2 + 2 = 0 2 3 + 2 = 0 = 1, 2. The general solution is then y = c1 x + c2 x2 . Since

975

Solution 17.13 We note that 1 xy + y + y = 0 x is an Euler equation. The substitution y = x yields 3 32 + 2 + 2 + = 0 3 22 + 2 = 0. The three roots of this algebraic equation are = 0, = 1 + i, =1

The corresponding solutions to the dierential equation are y = x0 y=1 We can write the general solution as y = c1 + c2 x cos(ln x) + c3 sin(ln x). Solution 17.14 We substitute y = x into the dierential equation. x2 y + (2a + 1)xy + by = 0 ( 1) + (2a + 1) + b = 0 2 + 2a + b = 0 = a a2 b 976 y = x1+ y = x e ln x y = x1 y = x e ln x .

For a2 > b then the general solution is y = c1 xa+ For a2 < b, then the general solution is y = c1 xa+

ba2 a2 b

+ c2 xa

a2 b

+ c2 xa

ba2

By taking the sum and dierence of these solutions, we can write the general solution as y = c1 xa cos b a2 ln x + c2 xa sin b a2 ln x . For a2 = b, the quadratic in lambda has a double root at = a. The general solution of the dierential equation is y = c1 xa + c2 xa ln x. In summary, the general solution is: xa c1 x a2 b + c2 x a2 b y = xa c1 cos b a2 ln x + c2 sin b a2 ln x a x (c + c ln x)

1 2

if a2 > b, if a2 < b, if a2 = b.

Solution 17.15 For a = 0, two linearly independent solutions of y a2 y = 0 are y1 = eax , For a = 0, we have y1 = e0x = 1, y2 = x e0x = x. 977 y2 = eax .

In this case the solution are dened by y1 = [eax ]a=0 , By the denition of dierentiation, f (0) is f (0) = lim Thus the second solution in the case a = 0 is eax eax y2 = lim a0 a ex ex . a Clearly y1 is a solution for all a. For a = 0, y2 is a linear combination of eax and eax and is thus a solution. Since the coecient of eax in this linear combination is non-zero, it is linearly independent to y1 . For a = 0, y2 is one half the derivative of eax evaluated at a = 0. Thus it is a solution. For a = 0, two linearly independent solutions of y1 = eax , y2 = lim x2 y + xy a2 y = 0 are y1 = xa , For a = 0, we have y1 = [xa ]a=0 = 1, Consider the solutions y1 = xa , y2 = d a x da = ln x.

a=0

y2 =

d ax e da

.

a=0

f (a) f (a) . a0 2a

y2 = xa .

xa xa a Clearly y1 is a solution for all a. For a = 0, y2 is a linear combination of xa and xa and is thus a solution. For a = 0, y2 is one half the derivative of xa evaluated at a = 0. Thus it is a solution. y2 = 978

Solution 17.16 1. x2 y 2xy + 2y = 0 We substitute y = x into the dierential equation. ( 1) 2 + 2 = 0 2 3 + 2 = 0 ( 1)( 2) = 0 y = c1 x + c2 x2 2. x2 y 2y = 0 We substitute y = x into the dierential equation. ( 1) 2 = 0 2 2 = 0 ( + 1)( 2) = 0 c1 y= + c2 x2 x 3. x2 y xy + y = 0 We substitute y = x into the dierential equation. ( 1) + 1 = 0 2 2 + 1 = 0 ( 1)2 = 0 979

Exact Equations

Solution 17.17 We note that y + y sin x + y cos x = 0 is an exact equation. d [y + y sin x] = 0 dx y + y sin x = c1 d y e cos x = c1 e cos x dx y = c1 ecos x e cos x dx + c2 ecos x

Solution 17.18 (1 x2 )y 2xy + 2y = 0, 1 < x < 1

We substitute y = x into the dierential equation to check that it is a solution. (1 x2 )(0) 2x(1) + 2x = 0 980

We look for a second solution of the form y = xu. We substitute this into the dierential equation and use the fact that x is a solution. (1 x2 )(xu + 2u ) 2x(xu + u) + 2xu = 0 (1 x2 )(xu + 2u ) 2x(xu ) = 0 (1 x2 )xu + (2 4x2 )u = 0 u 2 4x2 = u x(x2 1) u 2 1 1 = + u x 1x 1+x ln(u ) = 2 ln(x) ln(1 x) ln(1 + x) + const c ln(u ) = ln 2 (1 x)(1 + x) x c u = 2 x (1 x)(1 + x) 1 1 1 u =c + + 2 x 2(1 x) 2(1 + x) 1 1 1 u = c ln(1 x) + ln(1 + x) + const x 2 2 1 1 1+x u = c + ln + const x 2 1x A second linearly independent solution is y = 1 + x ln 2 1+x 1x .

981

To nd another linearly independent solution, we will use reduction of order. Substituting y = u ex y = (u + u) ex y = (u + 2u + u) ex into the dierential equation yields u + 2u + u 1 x+1 (u + u) + u = 0. x x x1 u + u =0 x d 1 u exp 1 dx =0 dx x u exln x = c1 u = c1 x ex u = c1 x ex dx + c2

982

Solution 17.20 We are given that y = x is a solution of (1 2x)y + 4xy 4y = 0. To nd another linearly independent solution, we will use reduction of order. Substituting y = xu y = xu + u y = xu + 2u into the dierential equation yields (1 2x)(xu + 2u ) + 4x(xu + u) 4xu = 0, (1 2x)xu + (4x2 4x + 2)u = 0, u 4x2 4x + 2 = , u x(2x 1) u 2 2 =2 + , u x 2x 1 ln(u ) = 2x 2 ln x + ln(2x 1) + const, 2 1 u = c1 2 e2x , x x 1 u = c1 e2x +c2 , x y = c1 e2x +c2 x. Solution 17.21 One solution of (x 1)y xy + y = 0, 983

is y1 = ex . We nd a second solution with reduction of order. We make the substitution y2 = u ex in the dierential equation. We determine u up to an additive constant. (x 1)(u + 2u + u) ex x(u + u) ex +u ex = 0 (x 1)u + (x 2)u = 0 u x2 1 = = 1 + u x1 x1 ln |u | = x + ln |x 1| + c u = c(x 1) ex u = cx ex The second solution of the dierential equation is y2 = x.

984

In mathematics you dont understand things. You just get used to them. - Johann von Neumann

18.1

Bernoulli Equations

Sometimes it is possible to solve a nonlinear equation by making a change of the dependent variable that converts it into a linear equation. One of the most important such equations is the Bernoulli equation dy + p(t)y = q(t)y , dt = 1.

The change of dependent variable u = y 1 will yield a rst order linear equation for u which when solved will give us an implicit solution for y. (See Exercise ??.) 985

Result 18.1.1 The Bernoulli equation y + p(t)y = q(t)y , = 1 can be transformed to the rst order linear equation du + (1 )p(t)u = (1 )q(t) dt with the change of variables u = y 1 .

Example 18.1.1 Consider the Bernoulli equation 2 y + y2. x

y =

First we divide by y 2 .

y 2 y =

2 1 y +1 x

u =

2 u+1 x

2 u + u = 1 x 986

2 x

dx) = x2 . d 2 (x u) = x2 dx 1 x2 u = x3 + c 3 1 c u= x+ 2 3 x 1 1 c y = x+ 2 3 x

18.2

Riccati Equations

L[y] = d2 d + p(x) + q(x) y = y + p(x)y + q(x)y = f (x). 2 dx dx d + a(x) dx d + b(x) , dx

Factoring Second Order Operators. Consider the second order linear equation

If we were able to factor the linear operator L into the form L= (18.1)

then we would be able to solve the dierential equation. Factoring reduces the problem to a system of rst order equations. We start with the factored equation d + a(x) dx d + b(x) y = f (x). dx 987

We set u =

d dx

Then to obtain the solution we solve d + b(x) y = u. dx Example 18.2.1 Consider the equation y + x 1 x y + 1 1 y = 0. x2

Lets say by some insight or just random luck we are able to see that this equation can be factored into d +x dx We rst solve the equation d + x u = 0. dx u + xu = 0 d 2 ex /2 u = 0 dx 2 u = c1 ex /2 988 d 1 y = 0. dx x

2 /2

dx + c2 x

If we were able to solve for a and b in Equation 18.1 in terms of p and q then we would be able to solve any second order dierential equation. Equating the two operators, d2 d d d +p +q = +a +b dx2 dx dx dx d2 d = 2 + (a + b) + (b + ab). dx dx Thus we have the two equations a + b = p, Eliminating a, b + (p b)b = q b = b2 pb + q Now we have a nonlinear equation for b that is no easier to solve than the original second order linear equation. Riccati Equations. Equations of the form y = a(x)y 2 + b(x)y + c(x) 989 and b + ab = q.

are called Riccati equations. From the above derivation we see that for every second order dierential equation there is a corresponding Riccati equation. Now we will show that the converse is true. We make the substitution u u (u )2 a u y= , y = + + 2 , au au au2 au in the Riccati equation. y = ay 2 + by + c u u (u )2 a u (u )2 + + 2 =a 2 2 b +c au au2 au au au u au u + 2 +b c=0 au a u au a u + b u + acu = 0 a Now we have a second order linear equation for u.

u Result 18.2.1 The substitution y = au transforms the Riccati equation

Example 18.2.2 Consider the Riccati equation 1 1 y = y2 + y + 2 . x x 990

a + b u + acu = 0. a

With the substitution y = u we obtain u 1 1 u u + 2 u = 0. x x This is an Euler equation. The substitution u = x yields ( 1) + 1 = ( 1)2 = 0. Thus the general solution for u is u = c1 x + c2 x log x. Since y = u , u y= c1 + c2 (1 + log x) c1 x + c2 x log x 1 + c(1 + log x) x + cx log x

y=

18.3

Some dierential equations can be put in a more elementary form by exchanging the dependent and independent variables. If the new equation can be solved, you will have an implicit solution for the initial equation. We will consider a few examples to illustrate the method. Example 18.3.1 Consider the equation y = y3 1 . xy 2

991

Instead of considering y to be a function of x, consider x to be a function of y. That is, x = x(y), x = dy 1 = 3 dx y xy 2 dx = y 3 xy 2 dy x + y2x = y3 Now we have a rst order equation for x. d 3 3 ey /3 x = y 3 ey /3 dy x = ey Example 18.3.2 Consider the equation

3 /3

dx . dy

y 3 ey

3 /3

dy + c ey

3 /3

y . + 2x Interchanging the dependent and independent variables yields y = y2 1 y = 2 x y + 2x x x =y+2 y x x 2 =y y d 2 (y x) = y 1 dy y 2 x = log y + c x = y 2 log y + cy 2

992

Result 18.3.1 Some dierential equations can be put in a simpler form by exchanging the dependent and independent variables. Thus a dierential equation for y(x) can be written as an equation for x(y). Solving the equation for x(y) will give an implicit solution for y(x).

18.4

Autonomous Equations

Autonomous equations have no explicit dependence on x. The following are examples. y + 3y 2y = 0 y = y + (y )2 y +y y =0 The change of variables u(y) = y reduces an nth order autonomous equation in y to a non-autonomous equation of order n 1 in u(y). Writing the derivatives of y in terms of u, y = u(y) d u(y) y = dx dy d u(y) = dx dy =yu =uu y = (u u + (u )2 )u. Thus we see that the equation for u(y) will have an order of one less than the original equation.

Result 18.4.1 Consider an autonomous dierential equation for y(x), (autonomous equations have no explicit dependence on x.) The change of variables u(y) = y reduces an nth order autonomous equation in y to a non-autonomous equation of order n 1 in u(y).

993

Example 18.4.1 Consider the equation y = y + (y )2 . With the substitution u(y) = y , the equation becomes u u = y + u2 u = u + yu1 . We recognize this as a Bernoulli equation. The substitution v = u2 yields 1 v =v+y 2 v 2v = 2y d 2y e v = 2y e2y dy v(y) = c1 e2y + e2y 2y e2y dy e2y dy

1 v(y) = c1 e2y + e2y y e2y e2y 2 1 v(y) = c1 e2y y . 2 Now we solve for u. u(y) = dy = dx c1 e2y y c1 e2y y 1 2 1 2

1/2

.

1/2

994

1 1/2 2 1 1/2 2

dy

Thus we nally have arrived at an implicit solution for y(x). Example 18.4.2 Consider the equation y + y 3 = 0. With the change of variables, u(y) = y , the equation becomes u u + y 3 = 0. This equation is separable. u du = y 3 dy 1 2 1 u = y 4 + c1 2 4 1/2 1 4 u = 2c1 y 2 1 y = 2c1 y 4 2 dy = dx (2c1 1 y 4 )1/2 2 995

1/2

18.5

*Equidimensional-in-x Equations

Dierential equations that are invariant under the change of variables x = c are said to be equidimensional-in-x. For a familiar example from linear equations, we note that the Euler equation is equidimensional-in-x. Writing the new derivatives under the change of variables, x = c , d 1 d = , dx c d d2 1 d2 = 2 2, dx2 c d ....

Example 18.5.1 Consider the Euler equation 2 3 y + y + 2 y = 0. x x Under the change of variables, x = c , y(x) = u(), this equation becomes 2 1 3 1 u + u + 2 2u = 0 c2 c c c 2 3 u + u + 2 u = 0. Thus this equation is invariant under the change of variables x = c .

996

With the change of variables x = c , y(x) = u() the equation becomes u u u u + 3 + 3 2 =0 2 c c c u c u u u u + + 2 = 0. u We see that this equation is also equidimensional-in-x. You may recall that the change of variables x = et reduces an Euler equation to a constant coecient equation. To generalize this result to nonlinear equations we will see that the same change of variables reduces an equidimensional-in-x equation to an autonomous equation. Writing the derivatives with respect to x in terms of t, x = et , d dt d d = = et dx dx dt dt x x2 d2 d =x dx2 dx x d d = dx dt d dx x d d2 d = 2 . dx dt dt

Applying the change of variables x = et , y(x) = u(t) yields an autonomous equation for u(t). x2 y x y + (u u )u + x2 y + xy = 0 y u u +u =0 u

Result 18.5.1 A dierential equation that is invariant under the change of variables x = c is equidimensional-in-x. Such an equation can be reduced to autonomous equation of the same order with the change of variables, x = et .

18.6

*Equidimensional-in-y Equations

A dierential equation is said to be equidimensional-in-y if it is invariant under the change of variables y(x) = c v(x). Note that all linear homogeneous equations are equidimensional-in-y. Example 18.6.1 Consider the linear equation y + p(x)y + q(x)y = 0. With the change of variables y(x) = cv(x) the equation becomes cv + p(x)cv + q(x)cv = 0 v + p(x)v + q(x)v = 0 Thus we see that the equation is invariant under the change of variables.

998

Example 18.6.2 For a nonlinear example, consider the equation y y + (y )2 y 2 = 0. Under the change of variables y(x) = cv(x) the equation becomes. cv cv + (cv )2 (cv)2 = 0 v v + (v )2 v 2 = 0. Thus we see that this equation is also equidimensional-in-y. The change of variables y(x) = eu(x) reduces an nth order equidimensional-in-y equation to an equation of order n 1 for u . Writing the derivatives of eu(x) , d u e = u eu dx d2 u e = (u + (u )2 ) eu dx2 d3 u e = (u + 3u u + (u )3 ) eu . 3 dx Example 18.6.3 Consider the linear equation in Example 18.6.1 y + p(x)y + q(x)y = 0. Under the change of variables y(x) = eu(x) the equation becomes (u + (u )2 ) eu +p(x)u eu +q(x) eu = 0 u + (u )2 + p(x)u + q(x) = 0. Thus we have a Riccati equation for u . This transformation might seem rather useless since linear equations are usually easier to work with than nonlinear equations, but it is often useful in determining the asymptotic behavior of the equation. 999

Example 18.6.4 From Example 18.6.2 we have the equation y y + (y )2 y 2 = 0. The change of variables y(x) = eu(x) yields (u + (u )2 ) eu eu +(u eu )2 (eu )2 = 0 u + 2(u )2 1 = 0 u = 2(u )2 + 1 Now we have a Riccati equation for u . We make the substitution u =

v . 2v

u = 2 log c1 e

2x

+c2 e

2x 2

+ c3 e c3

2x

+c2 e

2x

y = c1 e

2x

+c2 e

2x

1000

Result 18.6.1 A dierential equation is equidimensional-in-y if it is invariant under the change of variables y(x) = cv(x). An nth order equidimensional-in-y equation can be reduced to an equation of order n 1 in u with the change of variables y(x) = eu(x) .

18.7

*Scale-Invariant Equations

Result 18.7.1 An equation is scale invariant if it is invariant under the change of variables, x = c, y(x) = c v(), for some value of . A scale-invariant equation can be transformed to an equidimensional-in-x equation with the change of variables, y(x) = x u(x).

Example 18.7.1 Consider the equation y + x2 y 2 = 0. Under the change of variables x = c, y(x) = c v() this equation becomes c v () + c2 x2 c2 v 2 () = 0. 2 c Equating powers of c in the two terms yields = 4. Introducing the change of variables y(x) = x4 u(x) yields d2 4 x u(x) + x2 (x4 u(x))2 = 0 dx2 x4 u 8x5 u + 20x6 u + x6 u2 = 0 x2 u 8xu + 20u + u2 = 0. We see that the equation for u is equidimensional-in-x.

1001

18.8

Exercises

Exercise 18.1 1. Find the general solution and the singular solution of the Clairaut equation, y = xp + p2 . 2. Show that the singular solution is the envelope of the general solution. Hint, Solution

Bernoulli Equations

Exercise 18.2 (mathematica/ode/techniques nonlinear/bernoulli.nb) Consider the Bernoulli equation dy + p(t)y = q(t)y . dt 1. Solve the Bernoulli equation for = 1. 2. Show that for = 1 the substitution u = y 1 reduces Bernoullis equation to a linear equation. 3. Find the general solution to the following equations. t2 (a) dy + 2xy + y 2 = 0 dx (b) Hint, Solution 1002 dy + 2ty y 3 = 0, t > 0 dt

Exercise 18.3 Consider a population, y. Let the birth rate of the population be proportional to y with constant of proportionality 1. Let the death rate of the population be proportional to y 2 with constant of proportionality 1/1000. Assume that the population is large enough so that you can consider y to be continuous. What is the population as a function of time if the initial population is y0 ? Hint, Solution Exercise 18.4 Show that the transformation u = y 1n reduces the equation to a linear rst order equation. Solve the equations 1. t2 2. dy + 2ty y 3 = 0 t > 0 dt

Hint, Solution

Riccati Equations

Exercise 18.5 1. Consider the Ricatti equation, dy = a(x)y 2 + b(x)y + c(x). dx Substitute y = yp (x) + 1 u(x)

into the Ricatti equation, where yp is some particular solution to obtain a rst order linear dierential equation for u. 2. Consider a Ricatti equation, y = 1 + x2 2xy + y 2 . 1003

Verify that yp (x) = x is a particular solution. Make the substitution y = yp + 1/u to nd the general solution. What would happen if you continued this method, taking the general solution for yp ? Would you be able to nd a more general solution? 3. The substitution u au gives us the second order, linear, homogeneous dierential equation, y= u a + b u + acu = 0. a

The general solution for u has two constants of integration. However, the solution for y should only have one constant of integration as it satises a rst order equation. Write y in terms of the solution for u and verify tha y has only one constant of integration. Hint, Solution

Exercise 18.6 Solve the dierential equation y = Hint, Solution

y . xy + y

1004

18.9

Hint 18.1

Hints

Bernoulli Equations

Hint 18.2 Hint 18.3 The dierential equation governing the population is dy y2 =y , dt 1000 This is a Bernoulli equation. Hint 18.4 y(0) = y0 .

Riccati Equations

Hint 18.5

Hint 18.6 Exchange the dependent and independent variables.

1005

1006

18.10

Solutions

y = xp + p2 . (18.2)

1. We dierentiate Equation 18.2 with respect to x to obtain a second order dierential equation. y = y + xy + 2y y y (2y + x) = 0 Equating the rst or second factor to zero will lead us to two distinct solutions. y = 0 or y = x 2

If y = 0 then y p is a constant, (say y = c). From Equation 18.2 we see that the general solution is, y(x) = cx + c2 . Recall that the general solution of a rst order dierential equation has one constant of integration. If y = x/2 then y = x2 /4 + const. We determine the constant by substituting the expression into Equation 18.2. x2 x x 2 +c=x + 4 2 2 Thus we see that a singular solution of the Clairaut equation is 1 y(x) = x2 . 4 (18.4) (18.3)

Recall that a singular solution of a rst order nonlinear dierential equation has no constant of integration. 1007

-4

-2 -2 -4

Figure 18.1: The Envelope of y = cx + c2 . 2. Equating the general and singular solutions, y(x), and their derivatives, y (x), gives us the system of equations, 1 1 cx + c2 = x2 , c = x. 4 2 Since the rst equation is satised for c = x/2, we see that the solution y = cx + c2 is tangent to the solution y = x2 /4 at the point (2c, |c|). The solution y = cx + c2 is plotted for c = . . . , 1/4, 0, 1/4, . . . in Figure 18.1. The envelope of a one-parameter family F (x, y, c) = 0 is given by the system of equations, F (x, y, c) = 0, Fc (x, y, c) = 0.

2

Substituting the solution of the second equation, c = x/2, into the rst equation gives the envelope, y= 1 1 x x+ x 2 2 1008 1 = x2 . 4

Thus we see that the singular solution is the envelope of the general solution.

Bernoulli Equations

Solution 18.2 1. dy + p(t)y = q(t)y dt dy = (q p) dt y ln y = (q p) dt + c

(qp) dt

= 1.

y y + p(t)y 1 = q(t) This suggests the change of dependent variable u = y 1 , u = (1 )y y . 1 d 1 y + p(t)y 1 = q(t) 1 dt du + (1 )p(t)u = (1 )q(t) dt Thus we obtain a linear equation for u which when solved will give us an implicit solution for y. 1009

(4/t) dt

= e4 ln t = t4 .

We multiply by the integrating factor and integrate to obtain the solution. d 4 t u = 2t6 dt 2 u = t1 + ct4 5 2 y 2 = t1 + ct4 5 y= (b) dy + 2xy + y 2 = 0 dx y 2x + = 1 y2 y 1010 1

2 1 t 5

y = + ct4

5t 2 + ct5

(2x) dx

= ex .

2

ex dx + c ex ex ex2 dx + c

2

y(0) = y0 .

We recognize this as a Bernoulli equation. The substitution u(t) = 1/y(t) yields du 1 =u , dt 1000 u +u= u= u(0) = 1 . y0

1 1000

1011

1

et

As a check, we see that as t , y(t) 1000, which is an equilibrium solution of the dierential equation. y2 dy =0=y dt 1000 Solution 18.4 1. t2 dy + 2ty y 3 = 0 dt dy + 2t1 y = t2 y 3 dt y = 1000.

We make the change of variables u(t) = y 2 (t). u 4t1 u = 2t2 This gives us a rst order, linear equation. The integrating factor is I(t) = e

4t1 dt

= e4 log t = t4 .

2 1 t 5

+ ct4

y(t) = 2.

5t 2 + ct5

dy ( cos t + T ) y = y 3 dt We make the change of variables u(t) = y 2 (t). u + 2 ( cos t + T ) u = 2 This gives us a rst order, linear equation. The integrating factor is I(t) = e

2( cos t+T ) dt

We multiply by the integrating factor and integrate. d 2( sin t+T t) e u = 2 e2( sin t+T t) dt u = 2 e2( sin t+T t) Finally we write the solution in terms of y(t). y= 2 e sin t+T t e2( sin t+T t) dt + c e2( sin t+T t) dt + c

1013

Riccati Equations

Solution 18.5 We consider the Ricatti equation, dy = a(x)y 2 + b(x)y + c(x). dx 1. We substitute 1 u(x) into the Ricatti equation, where yp is some particular solution. y = yp (x) + yp yp 1 1 u 2 = +a(x) yp + 2 + 2 + b(x) yp + 2 u u u u u 1 yp 1 2 = b(x) + a(x) 2 + 2 u u u u u = (b + 2ayp ) u a We obtain a rst order linear dierential equation for u whose solution will contain one constant of integration. 2. We consider a Ricatti equation, y = 1 + x2 2xy + y 2 . We verify that yp (x) = x is a solution. 1 = 1 + x2 2xx + x2 Substituting y = yp + 1/u into Equation 18.6 yields, u = (2x + 2x) u 1 u = x + c y =x+ 1 cx (18.6) + c(x) (18.5)

1014

1 What would happen if we continued this method? Since y = x + cx is a solution of the Ricatti equation we can make the substitution, 1 1 y =x+ + , (18.7) c x u(x) which will lead to a solution for y which has two constants of integration. Then we could repeat the process, substituting the sum of that solution and 1/u(x) into the Ricatti equation to nd a solution with three constants of integration. We know that the general solution of a rst order, ordinary dierential equation has only one constant of integration. Does this method for Ricatti equations violate this theorem? Theres only one way to nd out. We substitute Equation 18.7 into the Ricatti equation.

u = 2x + 2 x + u =

1 cx

u1

2 u1 cx 2 u + u = 1 cx

The integrating factor is 1 . (c x)2 Upon multiplying by the integrating factor, the equation becomes exact. I(x) = e2/(cx) = e2 log(cx) = 1 1 u = 2 (c x) (c x)2 1 + b(c x)2 u = (c x)2 cx u = x c + b(c x)2 Thus the Ricatti equation has the solution, y =x+ 1 1 + . c x x c + b(c x)2 1015 d dx

It appears that we we have found a solution that has two constants of integration, but appearances can be deceptive. We do a little algebraic simplication of the solution. y =x+ 1 1 + c x (b(c x) 1)(c x) (b(c x) 1) + 1 y =x+ (b(c x) 1)(c x) b y =x+ b(c x) 1 1 y =x+ (c 1/b) x

This is actually a solution, (namely the solution we had before), with one constant of integration, (namely c1/b). Thus we see that repeated applications of the procedure will not produce more general solutions. 3. The substitution u au gives us the second order, linear, homogeneous dierential equation, y= u a + b u + acu = 0. a

The solution to this linear equation is a linear combination of two homogeneous solutions, u1 and u2 . u = c1 u1 (x) + c2 u2 (x) The solution of the Ricatti equation is then y= c1 u1 (x) + c2 u2 (x) . a(x)(c1 u1 (x) + c2 u2 (x)) 1016

Since we can divide the numerator and denominator by either c1 or c2 , this answer has only one constant of integration, (namely c1 /c2 or c2 /c1 ).

Solution 18.6 Exchanging the dependent and independent variables in the dierential equation,

y =

y , xy + y

yields

This is a rst order dierential equation for x(y). x y 1/2 x = y 1/2 d 2y 3/2 2y 3/2 x exp = y 1/2 exp dy 3 3 2y 3/2 2y 3/2 x exp = exp + c1 3 3 2y 3/2 x = 1 + c1 exp 3 3/2 x+1 2y = exp c1 3 x+1 2 log = y 3/2 c1 3 y= y= 3 log 2 c+ x+1 c1

2/3

3 log(x + 1) 2

2/3

1018

Prize intensity more than extent. Excellence resides in quality not in quantity. The best is always few and rare abundance lowers value. Even among men, the giants are usually really dwarfs. Some reckon books by the thickness, as if they were written to exercise the brawn more than the brain. Extent alone never rises above mediocrity; it is the misfortune of universal geniuses that in attempting to be at home everywhere are so nowhere. Intensity gives eminence and rises to the heroic in matters sublime. -Balthasar Gracian

19.1

The solution of any second order linear homogeneous dierential equation can be written in terms of the solutions to either y = 0, or y y = 0 Consider the general equation y + ay + by = 0. 1019

We can solve this dierential equation by making the substitution y = ex . This yields the algebraic equation 2 + a + b = 0. 1 = a a2 4b 2 There are two cases to consider. If a2 = 4b then the solutions are y1 = e(a+ If a2 = 4b then we have y1 = eax/2 , y2 = x eax/2 Note that regardless of the values of a and b the solutions are of the form y = eax/2 u(x) We would like to write the solutions to the general dierential equation in terms of the solutions to simpler dierential equations. We make the substitution y = ex u The derivatives of y are y = ex (u + u) y = ex (u + 2u + 2 u) Substituting these into the dierential equation yields u + (2 + a)u + (2 + a + b)u = 0 In order to get rid of the u term we choose The equation is then u + b There are now two cases to consider. 1020 a2 4 u = 0. a = . 2

a2 4b)x/2

y2 = e(a

a2 4b)x/2

Case 1. If b = a2 /4 then the dierential equation is u =0 which has solutions 1 and x. The general solution for y is then y = eax/2 (c1 + c2 x). Case 2. If b = a2 /4 then the dierential equation is u We make the change variables u(x) = v(), The derivatives in terms of are d d d 1 d = = dx dx d d 2 1 d 1 d 1 d2 d = = 2 2. dx2 d d d The dierential equation for v is 1 v 2 v 2 We choose = a2 b 4 1021 a2 b v =0 4 a2 b v =0 4

1/2

a2 b u = 0. 4 x = .

to obtain v v =0 which has solutions e . The solution for y is y = ex c1 ex/ +c2 ex/ 2 2 y = eax/2 c1 e a /4b x +c2 e a /4b

19.2

19.2.1

Normal Form

Second Order Equations

y + p(x)y + q(x)y = 0. (19.1)

Consider the second order equation Through a change of dependent variable, this equation can be transformed to u + I(x)y = 0. This is known as the normal form of (19.1). The function I(x) is known as the invariant of the equation. Now to nd the change of variables that will accomplish this transformation. We make the substitution y(x) = a(x)u(x) in (19.1). au + 2a u + a u + p(au + a u) + qau = 0 u + 2 To eliminate the u term, a(x) must satisfy a +p=0 a 1 a + pa = 0 2 2 1022 a +p u + a a pa + +q u=0 a a

p(x) dx .

p2 p 4 2

u = 0.

Two dierential equations having the same normal form are called equivalent.

Result 19.2.1 The change of variables y(x) = exp transforms the dierential equation y + p(x)y + q(x)y = 0 into its normal form u + I(x)u = 0 where the invariant of the equation, I(x), is p2 p I(x) = q . 4 2 19.2.2 Higher Order Dierential Equations

y + p(x)y + q(x)y + r(x)y = 0. 1023

1 2

p(x) dx u(x)

We can eliminate the y term. Making the change of dependent variable y = u exp 1 3 p(x) dx

1 1 y = u pu exp p(x) dx 3 3 1 1 2 y = u pu + (p2 3p )u exp p(x) dx 3 9 3 1 1 1 y = u pu + (p2 3p )u + (9p 9p p3 )u exp 3 27 3 yields the dierential equation

p(x) dx

Result 19.2.2 The change of variables y(x) = exp transforms the dierential equation y (n) + pn1 (x)y (n1) + pn2 (x)y (n2) + + p0 (x)y = 0 into the form u(n) + an2 (x)u(n2) + an3 (x)u(n3) + + a0 (x)u = 0. 1 n pn1 (x) dx u(x)

1024

19.3

19.3.1

Transformation to the form u + a(x) u = 0

Consider the second order linear dierential equation y + p(x)y + q(x)y = 0. We make the change of independent variable = f (x), The derivatives in terms of are d d d d = =f dx dx d d 2 d d d d2 d =f f = (f )2 2 + f 2 dx d d d d The dierential equation becomes (f )2 u + f u + pf u + qu = 0. In order to eliminate the u term, f must satisfy f + pf = 0 f = exp f= The dierential equation for u is then u + exp p(x) dx p(x) dx dx. u() = y(x).

q u=0 (f )2 1025

u () + q(x) exp 2

p(x) dx u() = 0.

Result 19.3.1 The change of variables = exp p(x) dx dx, u() = y(x)

transforms the dierential equation y + p(x)y + q(x)y = 0 into u () + q(x) exp 2 p(x) dx u() = 0.

19.3.2

y + p(x)y + q(x)y = 0.

With the change of independent variable = f (x), the dierential equation becomes (f )2 u + (f + pf )u + qu = 0. For this to be a constant coecient equation we must have (f )2 = c1 q, and 1026 f + pf = c2 q, u() = y(x),

for some constants c1 and c2 . Solving the rst condition, f = c q, f =c The second constraint becomes f + pf = const q 1 1/2 cq q + pcq 1/2 2 = const q q + 2pq = const. q 3/2 q(x) dx.

Result 19.3.2 Consider the dierential equation y + p(x)y + q(x)y = 0. If the expression q + 2pq q 3/2 is a constant then the change of variables =c q(x) dx, u() = y(x),

1027

19.4

Integral Equations

x

Volterras Equations. Volterras integral equation of the rst kind has the form N (x, )f () d = f (x).

a

x

y(x) = f (x) +

a

N (x, )y() d.

N (x, ) is known as the kernel of the equation. Fredholms Equations. Fredholms integral equations of the rst and second kinds are

b

N (x, )f () d = f (x),

a b

y(x) = f (x) +

a

N (x, )y() d.

19.4.1

Consider the initial value problem y + p(x)y + q(x)y = f (x), Integrating this equation twice yields

x a a x

y(a) = ,

y (a) = .

y () + p()y () + q()y() d d =

a a

f () d d

1028

a a

(x )f () d.

x x a x

y () d + (x )p()y()

x

x a

[(x )p () p()]y() d

+

a

(x )q()y() d =

a

(x )f () d.

x

a x x

[(x )p () p()]y() d

+

a

(x )q()y() d =

a

(x )f () d.

x x

y(x) =

a

(x )f () d + (x a)(p(a) + ) + +

a

Note that the initial conditions for the dierential equation are built into the Volterra equation. Setting x = a in the Volterra equation yields y(a) = . Dierentiating the Volterra equation,

x x

y (x) =

a

f () d + (p(a) + ) p(x)y(x) +

a

[p () q()] p()y() d

and setting x = a yields y (a) = p(a) + p(a) = . (Recall from calculus that d dx

x x

[g(x, )] d.) x

Result 19.4.1 The initial value problem y + p(x)y + q(x)y = f (x), y(a) = , y (a) = .

x

y(x) = F (x) +

a

N (x, )y() d

where

x

F (x) =

a

(x )f () d + (x a)(p(a) + ) +

y = f (x), y(a) = , y(b) = . (19.2)

To obtain a problem with homogeneous boundary conditions, we make the change of variable y(x) = u(x) + + to obtain the problem u = f (x), u(a) = u(b) = 0. Now we will use Greens functions to write the solution as an integral. First we solve the problem G = (x ), G(a|) = G(b|) = 0. 1030 (x a) ba

The homogeneous solutions of the dierential equation that satisfy the left and right boundary conditions are c1 (x a) and c2 (x b). Thus the Greens function has the form G(x|) = c1 (x a), c2 (x b), for x for x

Imposing continuity of G(x|) at x = and a unit jump of G(x|) at x = , we obtain G(x|) = Thus the solution of the (19.2) is y(x) = + Now consider the boundary value problem y + p(x)y + q(x)y = 0, From the above result we can see that the solution satises y(x) = + (x a) + ba

b (xa)(b) , ba (xb)(a) , ba

for x for x

(x a) + ba

G(x|)f () d.

a

y(a) = ,

y(b) = .

a

b

G(x|)p()y () d = G(x|)p()y()

b

b a

+

a

=

a

b b

G(x|)f () d +

a a

Result 19.4.2 The boundary value problem y + p(x)y + q(x)y = f (x), y(a) = , y(b) = .

b

y(x) = F (x) +

a

N (x, )y() d

where F (x) = + (x a) + ba

b b

G(x|)f () d,

a

H(x|)y() d,

a (xa)(b) , for x ba (xb)(a) , for x , ba (xa) (xa)(b) [p () q()] ba p() + ba (xb) (xb)(a) [p () q()] ba p() + ba

for x for x .

1032

19.5

Exercises

Exercise 19.1 Solve the dierential equation 4 1 y + 2+ x y + 24 + 12x + 4x2 y = 0. 3 9 Hint, Solution

Exercise 19.2 Show that the solution of the dierential equation y + 2(a + bx)y + (c + dx + ex2 )y = 0 can be written in terms of one of the following canonical forms: v v v v Hint, Solution Exercise 19.3 Show that the solution of the dierential equation y +2 a+ b x y + c+ d e + 2 x x y=0 + ( 2 + A)v = 0 = v +v =0 = 0.

1033

can be written in terms of one of the following canonical forms: A B + 2 v=0 1 A v + + v=0 2 A v + 2v = 0 v + 1+ Hint, Solution Exercise 19.4 Show that the second order Euler equation x2 d2 y dy + a1 x + a0 y = 0 2x d dx

can be transformed to a constant coecient equation. Hint, Solution Exercise 19.5 Solve Bessels equation of order 1/2, 1 1 y + y + 1 2 x 4x Hint, Solution y = 0.

1034

19.6

Hints

Hint 19.1 Transform the equation to normal form.

Hint 19.2 Transform the equation to normal form and then apply the scale transformation x = + . Hint 19.3 Transform the equation to normal form and then apply the scale transformation x = . Hint 19.4 Make the change of variables x = et , y(x) = u(t). Write the derivatives with respect to x in terms of t. x = et dx = et dt d d = et dx dt d d = x dx dt Hint 19.5 Transform the equation to normal form.

1035

19.7

Solutions

Solution 19.1 4 1 y + 2+ x y + 24 + 12x + 4x2 y = 0 3 9 To transform the equation to normal form we make the substitution y = exp = exx The invariant of the equation is I(x) = 1 1 24 + 12x + 4x2 9 4 = 1. 4 2+ x 3

2

1 2 u

4 2+ x 3

dx u

2 /3

1 d 2 dx

4 2+ x 3

The normal form of the dierential equation is then u +u=0 which has the general solution u = c1 cos x + c2 sin x Thus the equation for y has the general solution y = c1 exx

2 /3

cos x + c2 exx

2 /3

sin x.

1036

Solution 19.2 The substitution that will transform the equation to normal form is y = exp = eaxbx The invariant of the equation is 1 1 d I(x) = c + dx + ex2 (2(a + bx))2 (2(a + bx)) 4 2 dx = c b a2 + (d 2ab)x + (e b2 )x2 + x + x2 The normal form of the dierential equation is u + ( + x + x2 )u = 0 We consider the following cases: = 0. = 0. = 0. We immediately have the equation u = 0. = 0. With the change of variables v() = u(x), we obtain v + v = 0. 1037 x = 1/2 , 1 2 u. 2(a + bx) dx u

2 /2

= 0. We have the equation y + ( + x)y = 0. The scale transformation x = + yields v + 2 ( + ( + ))y = 0 v = [3 + 2 ( + )]v. Choosing = ()1/3 , yields the dierential equation v = v. = 0. The scale transformation x = + yields v + 2 [ + ( + ) + ( + )2 ]v = 0 v + 2 [ + + 2 + ( + 2) + 2 2 ]v = 0. Choosing = 1/4 , yields the dierential equation v + ( 2 + A)v = 0 where 1 A = 1/2 3/2 . 4 1038 = 2 =

Solution 19.3 The substitution that will transform the equation to normal form is y = exp 1 b 2 a+ 2 x b ax =x e u. dx u

The invariant of the equation is 1 d d e 1 b 2 a+ I(x) = c + + 2 x x 4 x 2 dx 2 d 2ab e + b b = c ax + + x x2 + + 2. x x The invariant form of the dierential equation is u + + We consider the following cases: = 0. = 0. We immediately have the equation u + = 0. We have the equation u + + 2 x x u = 0. u = 0. x2 + 2 x x u = 0.

2

2 a+

b x

1039

The scale transformation u(x) = v(), x = yields v + Choosing = 1 , we obtain v + = 0. The scale transformation x = yields v + 2 + Choosing = 1/2 , we obtain v + 1+ Solution 19.4 We write the derivatives with respect to x in terms of t. x = et dx = et dt d d = et dx dt d d = x dx dt

d Now we express x2 dx2 in terms of t.

2

+ 2 1 + 2

u = 0.

u = 0.

+ 2

v = 0.

1/2 + 2

v = 0.

x2

d2 d =x 2 dx dx

d dx

d d2 d = 2 dx dt dt

1040

Thus under the change of variables, x = et , y(x) = u(t), the Euler equation becomes u u + a1 u + a0 u = 0 u + (a1 1)u + a0 u = 0. Solution 19.5 The transformation y = exp will put the equation in normal form. The invariant is I(x) = Thus we have the dierential equation u + u = 0, with the solution u = c1 cos x + c2 sin x. The solution of Bessels equation of order 1/2 is y = c1 x1/2 cos x + c2 x1/2 sin x. 1 1 4x2 1 4 1 x2 1 1 = 1. 2 x2 1 2 1 dx x = x1/2 u

1041

I do not know what I appear to the world; but to myself I seem to have been only like a boy playing on a seashore, and diverting myself now and then by nding a smoother pebble or a prettier shell than ordinary, whilst the great ocean of truth lay all undiscovered before me. - Sir Issac Newton

20.1

H(x) = 0 1 for x < 0, for x > 0.

The derivative of the Heaviside function is zero for x = 0. At x = 0 the derivative is undened. We will represent the derivative of the Heaviside function by the Dirac delta function, (x). The delta function is zero for x = 0 and innite at the point x = 0. Since the derivative of H(x) is undened, (x) is not a function in the conventional sense of the word. One can derive the properties of the delta function rigorously, but the treatment in this text will be almost entirely heuristic. 1042

(x) =

and

(x) dx = 1.

The second property comes from the fact that (x) represents the derivative of H(x). The Dirac delta function is conceptually pictured in Figure 20.1.

Let f (x) be a continuous function that vanishes at innity. Consider the integral

f (x)(x) dx.

1043

f (x)(x) dx = f (x)H(x)

f (x)H(x) dx

=

0

f (x) dx

= [f (x)] 0 = f (0) We assumed that f (x) vanishes at innity in order to use integration by parts to evaluate the integral. However, since the delta function is zero for x = 0, the integrand is nonzero only at x = 0. Thus the behavior of the function at innity should not aect the value of the integral. Thus it is reasonable that f (0) = f (x)(x) dx holds for all continuous functions. By changing variables and noting that (x) is symmetric we can derive a more general formula.

f (0) =

f ()() d f ( + x)() d

f (x) =

f (x) =

f ()( x) d f ()(x ) d

f (x) =

20.2

b(x, ) = 0

1

Consider a function b(x, ) dened by for |x| > /2 for |x| < /2. 1044

10 5

-1

The Dirac delta function (x) can be thought of as b(x, ) in the limit as dened satises the properties,

(x) =

0 for x = 0 for x = 0

and

(x) dx = 1

Delayed Limiting Process. When the Dirac delta function appears inside an integral, we can think of the delta function as a delayed limiting process.

f (x)(x) dx lim

0

f (x)b(x, ) dx.

1045

Let f (x) be a continuous function and let F (x) = f (x). We compute the integral of f (x)(x).

f (x)(x) dx = lim

0

/2

f (x) dx

/2

1 /2 = lim [F (x)] /2

0

= lim

0

F ( /2) F ( /2)

= F (0) = f (0)

20.3

Higher Dimensions

We can dene a Dirac delta function in n-dimensional Cartesian space, n (x), x Rn . It is dened by the following two properties. n (x) = 0 for x = 0 n (x) dx = 1

Rn

It is easy to verify, that the n-dimensional Dirac delta function can be written as a product of 1-dimensional Dirac delta functions.

n

n (x) =

k=1

(xk )

1046

20.4

We can derive Dirac delta functions in non-rectangular coordinate systems by making a change of variables in the relation, n (x) dx = 1

Rn

Where the transformation is non-singular, one merely divides the Dirac delta function by the Jacobian of the transformation to the coordinate system. Example 20.4.1 Consider the Dirac delta function in cylindrical coordinates, (r, , z). The Jacobian is J = r.

0 2 0

3 (x x0 ) r dr d dz = 1 For r0 = 0, the Dirac Delta function is 1 3 (x x0 ) = (r r0 ) ( 0 ) (z z0 ) r since it satises the two dening properties. 1 (r r0 ) ( 0 ) (z z0 ) = 0 for (r, , z) = (r0 , 0 , z0 ) r

0 2 0

1 (r r0 ) ( 0 ) (z z0 ) r dr d dz r

2

=

0

(r r0 ) dr

0

( 0 ) d

(z z0 ) dz = 1

For r0 = 0, we have 3 (x x0 ) =

1 (r) (z z0 ) 2r 1047

since this again satises the two dening properties. 1 (r) (z z0 ) = 0 for (r, z) = (0, z0 ) 2r 2 1 1 (r) (z z0 ) r dr d dz = (r) dr d 2r 2 0 0

2 0

(z z0 ) dz = 1

1048

20.5

Exercises

Exercise 20.1 Let f (x) be a function that is continuous except for a jump discontinuity at x = 0. Using a delayed limiting process, show that f (0 ) + f (0+ ) = f (x)(x) dx. 2 Hint, Solution Exercise 20.2 Show that the Dirac delta function is symmetric. (x) = (x) Hint, Solution Exercise 20.3 Show that (cx) = Hint, Solution Exercise 20.4 We will consider the Dirac delta function with a function as on argument, (y(x)). Assume that y(x) has simple zeros at the points {xn }. y(xn ) = 0, y (xn ) = 0 Further assume that y(x) has no multiple zeros. (If y(x) has multiple zeros (y(x)) is not well-dened in the same sense that 1/0 is not well-dened.) Prove that (y(x)) =

n

(x) . |c|

(x xn ) . |y (xn )|

From this show that (n) (x) = (1)n (n) (x) and x (n) (x) = n (n1) (x). Hint, Solution Exercise 20.6 Consider x = (x1 , . . . , xn ) Rn and the curvilinear coordinate system = (1 , . . . , n ). Show that (x a) = ( ) |J|

where a and are corresponding points in the two coordinate systems and J is the Jacobian of the transformation from x to . x J Hint, Solution Exercise 20.7 Determine the Dirac delta function in spherical coordinates, (r, , ). x = r cos sin , Hint, Solution y = r sin sin , z = r cos

1050

20.6

Hi